Positioning control of liquid crystal elastomer actuator based on double closed-loop system structure

This paper proposes a control strategy with a double closed-loop system structure to achieve the positioning control of the photo-responsive liquid crystal elastomer (LCE) actuator. This work helps developing photo-responsive soft robot applications that are totally different from conventional elect...
Ausführliche Beschreibung

Gespeichert in:

Autor*in:	Wu, Jundong [verfasserIn] Wang, Yawu [verfasserIn] Ye, Wenjun [verfasserIn] Su, Chun-Yi [verfasserIn]

Format:	E-Artikel
Sprache:	Englisch

Erschienen:	2022

Schlagwörter:	Soft robots Liquid crystal elastomer actuator Double closed-loop control Feedback control Feed-forward control

Übergeordnetes Werk:	Enthalten in: Control engineering practice - Amsterdam [u.a.] : Elsevier Science, 1993, 123
Übergeordnetes Werk:	volume:123

DOI / URN:	10.1016/j.conengprac.2022.105136

Katalog-ID:	ELV007786875

Internformat


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100	1		\|a Wu, Jundong \|e verfasserin \|0 (orcid)0000-0002-5268-2731 \|4 aut
245	1	0	\|a Positioning control of liquid crystal elastomer actuator based on double closed-loop system structure
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520			\|a This paper proposes a control strategy with a double closed-loop system structure to achieve the positioning control of the photo-responsive liquid crystal elastomer (LCE) actuator. This work helps developing photo-responsive soft robot applications that are totally different from conventional electro-driven ones. In the proposed strategy, the outer loop is a combination of a PID controller in parallel with a feed-forward controller, the PID controller ensures that the positioning control target can be reached, and the feed-forward controller is an inverse model of the temperature-deformation relationship of the LCE actuator developed recently, to calculate the target temperature of the LCE actuator. The inner loop is a PID controller, which ensures that the temperature of the LCE actuator converges to the target value calculated by the feed-forward controller. Parameters of the inner PID controller are tuned using a simulation-experiment combined method based on the Hammerstein–Wiener model, and parameters of the outer PID controller are tuned based on experiments. Experiments are performed to show the effectiveness of the proposed method, and comparisons are made with conventional single closed-loop control structure. Such a double closed-loop structure has faster response and higher accuracy, and it lays a basis for possible photo-responsive soft robot applications.
650		4	\|a Soft robots
650		4	\|a Liquid crystal elastomer actuator
650		4	\|a Double closed-loop control
650		4	\|a Feedback control
650		4	\|a Feed-forward control
700	1		\|a Wang, Yawu \|e verfasserin \|4 aut
700	1		\|a Ye, Wenjun \|e verfasserin \|0 (orcid)0000-0002-3107-1130 \|4 aut
700	1		\|a Su, Chun-Yi \|e verfasserin \|0 (orcid)0000-0002-1869-5563 \|4 aut
773	0	8	\|i Enthalten in \|t Control engineering practice \|d Amsterdam [u.a.] : Elsevier Science, 1993 \|g 123 \|h Online-Ressource \|w (DE-627)306716119 \|w (DE-600)1501351-0 \|w (DE-576)259271012 \|x 1873-6939 \|7 nnns
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912			\|a GBV_ILN_24
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912			\|a GBV_ILN_32
912			\|a GBV_ILN_40
912			\|a GBV_ILN_60
912			\|a GBV_ILN_62
912			\|a GBV_ILN_63
912			\|a GBV_ILN_65
912			\|a GBV_ILN_69
912			\|a GBV_ILN_70
912			\|a GBV_ILN_73
912			\|a GBV_ILN_74
912			\|a GBV_ILN_90
912			\|a GBV_ILN_95
912			\|a GBV_ILN_100
912			\|a GBV_ILN_105
912			\|a GBV_ILN_110
912			\|a GBV_ILN_150
912			\|a GBV_ILN_151
912			\|a GBV_ILN_224
912			\|a GBV_ILN_370
912			\|a GBV_ILN_602
912			\|a GBV_ILN_702
912			\|a GBV_ILN_2003
912			\|a GBV_ILN_2004
912			\|a GBV_ILN_2005
912			\|a GBV_ILN_2006
912			\|a GBV_ILN_2008
912			\|a GBV_ILN_2010
912			\|a GBV_ILN_2011
912			\|a GBV_ILN_2014
912			\|a GBV_ILN_2015
912			\|a GBV_ILN_2020
912			\|a GBV_ILN_2021
912			\|a GBV_ILN_2025
912			\|a GBV_ILN_2027
912			\|a GBV_ILN_2034
912			\|a GBV_ILN_2038
912			\|a GBV_ILN_2044
912			\|a GBV_ILN_2048
912			\|a GBV_ILN_2049
912			\|a GBV_ILN_2050
912			\|a GBV_ILN_2056
912			\|a GBV_ILN_2059
912			\|a GBV_ILN_2061
912			\|a GBV_ILN_2064
912			\|a GBV_ILN_2065
912			\|a GBV_ILN_2068
912			\|a GBV_ILN_2088
912			\|a GBV_ILN_2111
912			\|a GBV_ILN_2112
912			\|a GBV_ILN_2113
912			\|a GBV_ILN_2118
912			\|a GBV_ILN_2122
912			\|a GBV_ILN_2129
912			\|a GBV_ILN_2143
912			\|a GBV_ILN_2147
912			\|a GBV_ILN_2148
912			\|a GBV_ILN_2152
912			\|a GBV_ILN_2153
912			\|a GBV_ILN_2190
912			\|a GBV_ILN_2336
912			\|a GBV_ILN_2470
912			\|a GBV_ILN_2507
912			\|a GBV_ILN_2522
912			\|a GBV_ILN_4035
912			\|a GBV_ILN_4037
912			\|a GBV_ILN_4046
912			\|a GBV_ILN_4112
912			\|a GBV_ILN_4125
912			\|a GBV_ILN_4126
912			\|a GBV_ILN_4242
912			\|a GBV_ILN_4251
912			\|a GBV_ILN_4305
912			\|a GBV_ILN_4313
912			\|a GBV_ILN_4322
912			\|a GBV_ILN_4323
912			\|a GBV_ILN_4324
912			\|a GBV_ILN_4325
912			\|a GBV_ILN_4326
912			\|a GBV_ILN_4333
912			\|a GBV_ILN_4334
912			\|a GBV_ILN_4335
912			\|a GBV_ILN_4338
912			\|a GBV_ILN_4393
936	b	k	\|a 50.23 \|j Regelungstechnik \|j Steuerungstechnik
951			\|a AR
952			\|d 123

Indexfelder

author_variant	j w jw y w yw w y wy c y s cys
matchkey_str	article:18736939:2022----::oiinncnrlfiudrsaeatmrcutraeodulco
hierarchy_sort_str	2022
bklnumber	50.23
publishDate	2022
allfields	10.1016/j.conengprac.2022.105136 doi (DE-627)ELV007786875 (ELSEVIER)S0967-0661(22)00047-8 DE-627 ger DE-627 rda eng 620 DE-600 50.23 bkl Wu, Jundong verfasserin (orcid)0000-0002-5268-2731 aut Positioning control of liquid crystal elastomer actuator based on double closed-loop system structure 2022 nicht spezifiziert zzz rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier This paper proposes a control strategy with a double closed-loop system structure to achieve the positioning control of the photo-responsive liquid crystal elastomer (LCE) actuator. This work helps developing photo-responsive soft robot applications that are totally different from conventional electro-driven ones. In the proposed strategy, the outer loop is a combination of a PID controller in parallel with a feed-forward controller, the PID controller ensures that the positioning control target can be reached, and the feed-forward controller is an inverse model of the temperature-deformation relationship of the LCE actuator developed recently, to calculate the target temperature of the LCE actuator. The inner loop is a PID controller, which ensures that the temperature of the LCE actuator converges to the target value calculated by the feed-forward controller. Parameters of the inner PID controller are tuned using a simulation-experiment combined method based on the Hammerstein–Wiener model, and parameters of the outer PID controller are tuned based on experiments. Experiments are performed to show the effectiveness of the proposed method, and comparisons are made with conventional single closed-loop control structure. Such a double closed-loop structure has faster response and higher accuracy, and it lays a basis for possible photo-responsive soft robot applications. Soft robots Liquid crystal elastomer actuator Double closed-loop control Feedback control Feed-forward control Wang, Yawu verfasserin aut Ye, Wenjun verfasserin (orcid)0000-0002-3107-1130 aut Su, Chun-Yi verfasserin (orcid)0000-0002-1869-5563 aut Enthalten in Control engineering practice Amsterdam [u.a.] : Elsevier Science, 1993 123 Online-Ressource (DE-627)306716119 (DE-600)1501351-0 (DE-576)259271012 1873-6939 nnns volume:123 GBV_USEFLAG_U SYSFLAG_U GBV_ELV GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_150 GBV_ILN_151 GBV_ILN_224 GBV_ILN_370 GBV_ILN_602 GBV_ILN_702 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2008 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2027 GBV_ILN_2034 GBV_ILN_2038 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2056 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2190 GBV_ILN_2336 GBV_ILN_2470 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4393 50.23 Regelungstechnik Steuerungstechnik AR 123
spelling	10.1016/j.conengprac.2022.105136 doi (DE-627)ELV007786875 (ELSEVIER)S0967-0661(22)00047-8 DE-627 ger DE-627 rda eng 620 DE-600 50.23 bkl Wu, Jundong verfasserin (orcid)0000-0002-5268-2731 aut Positioning control of liquid crystal elastomer actuator based on double closed-loop system structure 2022 nicht spezifiziert zzz rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier This paper proposes a control strategy with a double closed-loop system structure to achieve the positioning control of the photo-responsive liquid crystal elastomer (LCE) actuator. This work helps developing photo-responsive soft robot applications that are totally different from conventional electro-driven ones. In the proposed strategy, the outer loop is a combination of a PID controller in parallel with a feed-forward controller, the PID controller ensures that the positioning control target can be reached, and the feed-forward controller is an inverse model of the temperature-deformation relationship of the LCE actuator developed recently, to calculate the target temperature of the LCE actuator. The inner loop is a PID controller, which ensures that the temperature of the LCE actuator converges to the target value calculated by the feed-forward controller. Parameters of the inner PID controller are tuned using a simulation-experiment combined method based on the Hammerstein–Wiener model, and parameters of the outer PID controller are tuned based on experiments. Experiments are performed to show the effectiveness of the proposed method, and comparisons are made with conventional single closed-loop control structure. Such a double closed-loop structure has faster response and higher accuracy, and it lays a basis for possible photo-responsive soft robot applications. Soft robots Liquid crystal elastomer actuator Double closed-loop control Feedback control Feed-forward control Wang, Yawu verfasserin aut Ye, Wenjun verfasserin (orcid)0000-0002-3107-1130 aut Su, Chun-Yi verfasserin (orcid)0000-0002-1869-5563 aut Enthalten in Control engineering practice Amsterdam [u.a.] : Elsevier Science, 1993 123 Online-Ressource (DE-627)306716119 (DE-600)1501351-0 (DE-576)259271012 1873-6939 nnns volume:123 GBV_USEFLAG_U SYSFLAG_U GBV_ELV GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_150 GBV_ILN_151 GBV_ILN_224 GBV_ILN_370 GBV_ILN_602 GBV_ILN_702 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2008 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2027 GBV_ILN_2034 GBV_ILN_2038 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2056 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2190 GBV_ILN_2336 GBV_ILN_2470 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4393 50.23 Regelungstechnik Steuerungstechnik AR 123
allfields_unstemmed	10.1016/j.conengprac.2022.105136 doi (DE-627)ELV007786875 (ELSEVIER)S0967-0661(22)00047-8 DE-627 ger DE-627 rda eng 620 DE-600 50.23 bkl Wu, Jundong verfasserin (orcid)0000-0002-5268-2731 aut Positioning control of liquid crystal elastomer actuator based on double closed-loop system structure 2022 nicht spezifiziert zzz rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier This paper proposes a control strategy with a double closed-loop system structure to achieve the positioning control of the photo-responsive liquid crystal elastomer (LCE) actuator. This work helps developing photo-responsive soft robot applications that are totally different from conventional electro-driven ones. In the proposed strategy, the outer loop is a combination of a PID controller in parallel with a feed-forward controller, the PID controller ensures that the positioning control target can be reached, and the feed-forward controller is an inverse model of the temperature-deformation relationship of the LCE actuator developed recently, to calculate the target temperature of the LCE actuator. The inner loop is a PID controller, which ensures that the temperature of the LCE actuator converges to the target value calculated by the feed-forward controller. Parameters of the inner PID controller are tuned using a simulation-experiment combined method based on the Hammerstein–Wiener model, and parameters of the outer PID controller are tuned based on experiments. Experiments are performed to show the effectiveness of the proposed method, and comparisons are made with conventional single closed-loop control structure. Such a double closed-loop structure has faster response and higher accuracy, and it lays a basis for possible photo-responsive soft robot applications. Soft robots Liquid crystal elastomer actuator Double closed-loop control Feedback control Feed-forward control Wang, Yawu verfasserin aut Ye, Wenjun verfasserin (orcid)0000-0002-3107-1130 aut Su, Chun-Yi verfasserin (orcid)0000-0002-1869-5563 aut Enthalten in Control engineering practice Amsterdam [u.a.] : Elsevier Science, 1993 123 Online-Ressource (DE-627)306716119 (DE-600)1501351-0 (DE-576)259271012 1873-6939 nnns volume:123 GBV_USEFLAG_U SYSFLAG_U GBV_ELV GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_150 GBV_ILN_151 GBV_ILN_224 GBV_ILN_370 GBV_ILN_602 GBV_ILN_702 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2008 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2027 GBV_ILN_2034 GBV_ILN_2038 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2056 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2190 GBV_ILN_2336 GBV_ILN_2470 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4393 50.23 Regelungstechnik Steuerungstechnik AR 123
allfieldsGer	10.1016/j.conengprac.2022.105136 doi (DE-627)ELV007786875 (ELSEVIER)S0967-0661(22)00047-8 DE-627 ger DE-627 rda eng 620 DE-600 50.23 bkl Wu, Jundong verfasserin (orcid)0000-0002-5268-2731 aut Positioning control of liquid crystal elastomer actuator based on double closed-loop system structure 2022 nicht spezifiziert zzz rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier This paper proposes a control strategy with a double closed-loop system structure to achieve the positioning control of the photo-responsive liquid crystal elastomer (LCE) actuator. This work helps developing photo-responsive soft robot applications that are totally different from conventional electro-driven ones. In the proposed strategy, the outer loop is a combination of a PID controller in parallel with a feed-forward controller, the PID controller ensures that the positioning control target can be reached, and the feed-forward controller is an inverse model of the temperature-deformation relationship of the LCE actuator developed recently, to calculate the target temperature of the LCE actuator. The inner loop is a PID controller, which ensures that the temperature of the LCE actuator converges to the target value calculated by the feed-forward controller. Parameters of the inner PID controller are tuned using a simulation-experiment combined method based on the Hammerstein–Wiener model, and parameters of the outer PID controller are tuned based on experiments. Experiments are performed to show the effectiveness of the proposed method, and comparisons are made with conventional single closed-loop control structure. Such a double closed-loop structure has faster response and higher accuracy, and it lays a basis for possible photo-responsive soft robot applications. Soft robots Liquid crystal elastomer actuator Double closed-loop control Feedback control Feed-forward control Wang, Yawu verfasserin aut Ye, Wenjun verfasserin (orcid)0000-0002-3107-1130 aut Su, Chun-Yi verfasserin (orcid)0000-0002-1869-5563 aut Enthalten in Control engineering practice Amsterdam [u.a.] : Elsevier Science, 1993 123 Online-Ressource (DE-627)306716119 (DE-600)1501351-0 (DE-576)259271012 1873-6939 nnns volume:123 GBV_USEFLAG_U SYSFLAG_U GBV_ELV GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_150 GBV_ILN_151 GBV_ILN_224 GBV_ILN_370 GBV_ILN_602 GBV_ILN_702 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2008 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2027 GBV_ILN_2034 GBV_ILN_2038 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2056 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2190 GBV_ILN_2336 GBV_ILN_2470 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4393 50.23 Regelungstechnik Steuerungstechnik AR 123
allfieldsSound	10.1016/j.conengprac.2022.105136 doi (DE-627)ELV007786875 (ELSEVIER)S0967-0661(22)00047-8 DE-627 ger DE-627 rda eng 620 DE-600 50.23 bkl Wu, Jundong verfasserin (orcid)0000-0002-5268-2731 aut Positioning control of liquid crystal elastomer actuator based on double closed-loop system structure 2022 nicht spezifiziert zzz rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier This paper proposes a control strategy with a double closed-loop system structure to achieve the positioning control of the photo-responsive liquid crystal elastomer (LCE) actuator. This work helps developing photo-responsive soft robot applications that are totally different from conventional electro-driven ones. In the proposed strategy, the outer loop is a combination of a PID controller in parallel with a feed-forward controller, the PID controller ensures that the positioning control target can be reached, and the feed-forward controller is an inverse model of the temperature-deformation relationship of the LCE actuator developed recently, to calculate the target temperature of the LCE actuator. The inner loop is a PID controller, which ensures that the temperature of the LCE actuator converges to the target value calculated by the feed-forward controller. Parameters of the inner PID controller are tuned using a simulation-experiment combined method based on the Hammerstein–Wiener model, and parameters of the outer PID controller are tuned based on experiments. Experiments are performed to show the effectiveness of the proposed method, and comparisons are made with conventional single closed-loop control structure. Such a double closed-loop structure has faster response and higher accuracy, and it lays a basis for possible photo-responsive soft robot applications. Soft robots Liquid crystal elastomer actuator Double closed-loop control Feedback control Feed-forward control Wang, Yawu verfasserin aut Ye, Wenjun verfasserin (orcid)0000-0002-3107-1130 aut Su, Chun-Yi verfasserin (orcid)0000-0002-1869-5563 aut Enthalten in Control engineering practice Amsterdam [u.a.] : Elsevier Science, 1993 123 Online-Ressource (DE-627)306716119 (DE-600)1501351-0 (DE-576)259271012 1873-6939 nnns volume:123 GBV_USEFLAG_U SYSFLAG_U GBV_ELV GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_150 GBV_ILN_151 GBV_ILN_224 GBV_ILN_370 GBV_ILN_602 GBV_ILN_702 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2006 GBV_ILN_2008 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2027 GBV_ILN_2034 GBV_ILN_2038 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2056 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2065 GBV_ILN_2068 GBV_ILN_2088 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2113 GBV_ILN_2118 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2147 GBV_ILN_2148 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2190 GBV_ILN_2336 GBV_ILN_2470 GBV_ILN_2507 GBV_ILN_2522 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4046 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4242 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4393 50.23 Regelungstechnik Steuerungstechnik AR 123
language	English
source	Enthalten in Control engineering practice 123 volume:123
sourceStr	Enthalten in Control engineering practice 123 volume:123
format_phy_str_mv	Article
bklname	Regelungstechnik Steuerungstechnik
institution	findex.gbv.de
topic_facet	Soft robots Liquid crystal elastomer actuator Double closed-loop control Feedback control Feed-forward control
dewey-raw	620
isfreeaccess_bool	false
container_title	Control engineering practice
authorswithroles_txt_mv	Wu, Jundong @@aut@@ Wang, Yawu @@aut@@ Ye, Wenjun @@aut@@ Su, Chun-Yi @@aut@@
publishDateDaySort_date	2022-01-01T00:00:00Z
hierarchy_top_id	306716119
dewey-sort	3620
id	ELV007786875
language_de	englisch
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author	Wu, Jundong
spellingShingle	Wu, Jundong ddc 620 bkl 50.23 misc Soft robots misc Liquid crystal elastomer actuator misc Double closed-loop control misc Feedback control misc Feed-forward control Positioning control of liquid crystal elastomer actuator based on double closed-loop system structure
authorStr	Wu, Jundong
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topic_title	620 DE-600 50.23 bkl Positioning control of liquid crystal elastomer actuator based on double closed-loop system structure Soft robots Liquid crystal elastomer actuator Double closed-loop control Feedback control Feed-forward control
topic	ddc 620 bkl 50.23 misc Soft robots misc Liquid crystal elastomer actuator misc Double closed-loop control misc Feedback control misc Feed-forward control
topic_unstemmed	ddc 620 bkl 50.23 misc Soft robots misc Liquid crystal elastomer actuator misc Double closed-loop control misc Feedback control misc Feed-forward control
topic_browse	ddc 620 bkl 50.23 misc Soft robots misc Liquid crystal elastomer actuator misc Double closed-loop control misc Feedback control misc Feed-forward control
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title	Positioning control of liquid crystal elastomer actuator based on double closed-loop system structure
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title_full	Positioning control of liquid crystal elastomer actuator based on double closed-loop system structure
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title_sort	positioning control of liquid crystal elastomer actuator based on double closed-loop system structure
title_auth	Positioning control of liquid crystal elastomer actuator based on double closed-loop system structure
abstract	This paper proposes a control strategy with a double closed-loop system structure to achieve the positioning control of the photo-responsive liquid crystal elastomer (LCE) actuator. This work helps developing photo-responsive soft robot applications that are totally different from conventional electro-driven ones. In the proposed strategy, the outer loop is a combination of a PID controller in parallel with a feed-forward controller, the PID controller ensures that the positioning control target can be reached, and the feed-forward controller is an inverse model of the temperature-deformation relationship of the LCE actuator developed recently, to calculate the target temperature of the LCE actuator. The inner loop is a PID controller, which ensures that the temperature of the LCE actuator converges to the target value calculated by the feed-forward controller. Parameters of the inner PID controller are tuned using a simulation-experiment combined method based on the Hammerstein–Wiener model, and parameters of the outer PID controller are tuned based on experiments. Experiments are performed to show the effectiveness of the proposed method, and comparisons are made with conventional single closed-loop control structure. Such a double closed-loop structure has faster response and higher accuracy, and it lays a basis for possible photo-responsive soft robot applications.
abstractGer	This paper proposes a control strategy with a double closed-loop system structure to achieve the positioning control of the photo-responsive liquid crystal elastomer (LCE) actuator. This work helps developing photo-responsive soft robot applications that are totally different from conventional electro-driven ones. In the proposed strategy, the outer loop is a combination of a PID controller in parallel with a feed-forward controller, the PID controller ensures that the positioning control target can be reached, and the feed-forward controller is an inverse model of the temperature-deformation relationship of the LCE actuator developed recently, to calculate the target temperature of the LCE actuator. The inner loop is a PID controller, which ensures that the temperature of the LCE actuator converges to the target value calculated by the feed-forward controller. Parameters of the inner PID controller are tuned using a simulation-experiment combined method based on the Hammerstein–Wiener model, and parameters of the outer PID controller are tuned based on experiments. Experiments are performed to show the effectiveness of the proposed method, and comparisons are made with conventional single closed-loop control structure. Such a double closed-loop structure has faster response and higher accuracy, and it lays a basis for possible photo-responsive soft robot applications.
abstract_unstemmed	This paper proposes a control strategy with a double closed-loop system structure to achieve the positioning control of the photo-responsive liquid crystal elastomer (LCE) actuator. This work helps developing photo-responsive soft robot applications that are totally different from conventional electro-driven ones. In the proposed strategy, the outer loop is a combination of a PID controller in parallel with a feed-forward controller, the PID controller ensures that the positioning control target can be reached, and the feed-forward controller is an inverse model of the temperature-deformation relationship of the LCE actuator developed recently, to calculate the target temperature of the LCE actuator. The inner loop is a PID controller, which ensures that the temperature of the LCE actuator converges to the target value calculated by the feed-forward controller. Parameters of the inner PID controller are tuned using a simulation-experiment combined method based on the Hammerstein–Wiener model, and parameters of the outer PID controller are tuned based on experiments. Experiments are performed to show the effectiveness of the proposed method, and comparisons are made with conventional single closed-loop control structure. Such a double closed-loop structure has faster response and higher accuracy, and it lays a basis for possible photo-responsive soft robot applications.
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title_short	Positioning control of liquid crystal elastomer actuator based on double closed-loop system structure
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author2	Wang, Yawu Ye, Wenjun Su, Chun-Yi
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doi_str	10.1016/j.conengprac.2022.105136
up_date	2024-07-06T17:27:45.292Z
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Positioning control of liquid crystal elastomer actuator based on double closed-loop system structure

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