Author/Authors :
sancak, caner karadeniz teknik üniversitesi - mühendislik fakültesi - makine mühendisliği bölümü, turkey , coşkun, mustafa yavuz karadeniz teknik üniversitesi - mühendislik fakültesi - makine mühendisliği bölümü, turkey , itik, mehmet karadeniz teknik üniversitesi - mühendislik fakültesi - makine mühendisliği bölümü, turkey
Title Of Article :
Vision based sliding mode control of micro displacement of a conjugated electroactive polymer actuator
Abstract :
In this paper, vision based displacement control of a tri-layer conjugated electro-active polymer actuator has been performed in micrometer resolution. Sliding mode control with different reaching laws which is robust to unmodeled uncertainties has been used as the control method. A microscope has been used to observe position of the free end point of the actuator and a vision based system has been employed for feedback signal. Experimental results show that the conjugated electro-active polymer actuators can be successfully controlled in micrometer resolution and can be used in applications which includes micromanipulation like cell injection.
NaturalLanguageKeyword :
Sliding mode controller , Conjugated electroactive polymer actuator , Micro displacement control , Vision based control
JournalTitle :
Pamukkale University Journal Of Engineering Sciences
