Journal article
Robust and Adaptive Sampled-Data Control of Twisted and Coiled Artificial Muscles
IEEE control systems letters, Vol.6, pp.1232-1237
2022
DOI: 10.1109/LCSYS.2021.3091414
Abstract
Twisted and Coiled Artificial Muscles (TCAMs) are lightweight actuators providing high power/weight ratio, and can substitute heavy electromagnetic motors and pneumatic artificial muscles in applications that require low weight and high contractile work. In this letter we present a robust and adaptive output feedback control strategy for electro-thermally actuated TCAMs. The controller adjusts the voltage applied to the TCAM in order to match desired muscles contraction/expansion. The proposed controller compensates for disturbances and uncertainties in the TCAM's dynamic model. The robustness and stability analysis of the controller takes into account a digital implementation of the control algorithms. Performance are derived in terms of the sampling time of the CPU and the sensors available. The efficacy of the controller is validated through experimental tests.
Details
- Title: Subtitle
- Robust and Adaptive Sampled-Data Control of Twisted and Coiled Artificial Muscles
- Creators
- Maxwell Hammond - University of IowaVenanzio Cichella - University of IowaThilina Weerakkody - University of IowaCaterina Lamuta - University of Iowa
- Resource Type
- Journal article
- Publication Details
- IEEE control systems letters, Vol.6, pp.1232-1237
- Publisher
- IEEE
- DOI
- 10.1109/LCSYS.2021.3091414
- ISSN
- 2475-1456
- eISSN
- 2475-1456
- Grant note
- N00014-19-1-2136; N00014-20-1-2224 / Office of Naval Research (10.13039/100000006)
- Language
- English
- Date published
- 2022
- Academic Unit
- Mechanical Engineering
- Record Identifier
- 9984196507802771
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