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
Autor*in: |
Wu, Jundong [verfasserIn] Wang, Yawu [verfasserIn] Ye, Wenjun [verfasserIn] Su, Chun-Yi [verfasserIn] |
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Format: |
E-Artikel |
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Sprache: |
Englisch |
Erschienen: |
2022 |
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Schlagwörter: |
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Übergeordnetes Werk: |
Enthalten in: Control engineering practice - Amsterdam [u.a.] : Elsevier Science, 1993, 123 |
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Übergeordnetes Werk: |
volume:123 |
DOI / URN: |
10.1016/j.conengprac.2022.105136 |
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Katalog-ID: |
ELV007786875 |
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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 | |
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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 |
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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 |
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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 |
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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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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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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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Elektronische Aufsätze Aufsätze Elektronische Ressource |
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title |
Positioning control of liquid crystal elastomer actuator based on double closed-loop system structure |
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Positioning control of liquid crystal elastomer actuator based on double closed-loop system structure |
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Wu, Jundong |
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2022 |
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Wu, Jundong Wang, Yawu Ye, Wenjun Su, Chun-Yi |
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Elektronische Aufsätze |
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Wu, Jundong |
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10.1016/j.conengprac.2022.105136 |
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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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Wang, Yawu Ye, Wenjun Su, Chun-Yi |
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up_date |
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