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  4. Hysteresis analysis and control of a metal-polymer hybrid soft actuator
 
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Hysteresis analysis and control of a metal-polymer hybrid soft actuator

Citation Link: https://doi.org/10.15480/882.1975
Publikationstyp
Journal Article
Date Issued
2017-04-08
Sprache
English
Author(s)
Schimmack, Manuel  
Etzberger Feistauer, Eduardo  
Amancio, Sergio  
Mercorelli, Paolo  
Institut
Kunststoffe und Verbundwerkstoffe M-11  
TORE-DOI
10.15480/882.1975
TORE-URI
https://tubdok.tub.tuhh.de/handle/11420/1978
Journal
Energies  
Volume
10
Issue
4
Start Page
Article No. 508
Citation
Energies 4 (10): 508 (2017)
Publisher DOI
10.3390/en10040508
Scopus ID
2-s2.0-85026372294
Publisher
MDPI
The number of applications of stimulus-responsive polymers is growing at an impressive rate. The motivation of this contribution is to use a commercially available low-budget silver-coated polyamide (PA6) as a thermo-responsive metal-polymer hybrid soft actuator. Polyamide is a hygroscopic polymer; therefore, its mechanical and physical-chemical properties are affected by exposition to humidity or immersion in water. The effect of water absorption content on the PA6 and silver-coated PA6 monofilament properties, such as mass change and resistance, were evaluated. Moreover, the influence of swelling and shrinking effects on the surface morphology, caused by variations of moisture and water immersion, was investigated. Based on these variations, the dynamics of the resistance of the hybrid material were analyzed in the context of the proposed hysteresis model. An identification procedure of the hysteresis is presented along with an approximation of the upper and lower bound based on a constrained least square approach. A switching logic algorithm for this hybrid dynamic system is introduced, which makes it possible to structure the non-linear function in a switching mode. Finally, a non-linear integral sliding manifold is proposed and tested to control the resulting force of the actuator.hysteresis model. An identification procedure of the hysteresis is presented along with an approximation of the upper and lower bound based on a constrained least square approach. A switching logic algorithm for this hybrid dynamic system is introduced, which makes it possible to structure the non-linear function in a switching mode. Finally, a non-linear integral sliding manifold is proposed and tested to control the resulting force of the actuator.
Subjects
soft-actuator
metal-polymer hybrid material
switching system
DDC Class
500: Naturwissenschaften
530: Physik
540: Chemie
More Funding Information
Helmholtz Association
Lizenz
https://creativecommons.org/licenses/by/4.0/
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