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The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006. BioRob 2006.

DOI: 10.1109/biorob.2006.1639126

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Modeling and Observer Design for Polypyrrole Conducting Polymer Actuator Control Systems

Proceedings article published in 1 by D. B. McCombie, T. W. Secord, H. H. Asada
This paper was not found in any repository, but could be made available legally by the author.
This paper was not found in any repository, but could be made available legally by the author.

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Abstract

A state observer for estimating and predicting the internal state of polypyrrole conducting polymer actuators is presented. Polypyrrole actuators can produce large stresses (>5 MPa) with large associated strains (>12%), which leads to a high energy density. However, care must be taken since conducting polymers degrade quickly when exposed to overcharged or over-strain conditions. Unfortunately, charge and other internal state variables relevant to degradation of the actuator material are not directly measurable in real-time control systems. To cope with this difficulty, this paper presents the design of a dynamic state observer to estimate the internal state of the polymer actuator from available sensor information. First, a reduced-order model of a polypyrrole conducting polymer actuator is obtained. A state observer is then designed based on the dynamic model. Subsequently, a method is presented for real-time identification of key model parameters from the measured data. Lastly, a novel control system is presented which utilizes the estimated internal states of the actuator to slow its performance degradation. Preliminary experiments and simulation are presented to demonstrate the proposed approach