A genetic algorithm approach for model reference adaptive control of ionic polymer metal composites.pdf
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Proceeding of the 2004 American Control Conference
Boston. Massachusetts June 30 -July 2,2004
FrP10.6
A GENETIC ALGORITHM APPROACH FOR MODEL REFERENCE ADAPTIVE CONTROL
OF IONIC POLYMER METAL COMPOSITES
Brijesh C. Law Marco P. Schoen Ajay Mahajan
Measurement and Control Engineering
Research Center Research Center and Energy Processes
Idaho State University Idaho State University Southern Illinois University
Carbondale, IL, 62901, USA
lavubri@isu.edu schomardii$su. edu mahaianOentv.siu.edu
Measurement and Control Engineering Department of Mechanical Engineering
Pocatello, ID, 83209, USA Pocatello, ID, 83209, USA
Abstract - Electroactive polymers undergo physical
deformation to external voltage stimuli. These electrically
activated polymers possess extraordinary features making them
capable as lightweight sensors and actuators in manifold
applications. The characteristics of applied voltage and
environmental conditions, especially the moisture content
surrounding the polymer, have a combined influence on the
dynamical behavior of these polymers. I n order to characterize
these polymers under varying environmental conditions, this
paper discusses the experimental procedure and modeling
techniques used to derive a representative model. Ionic polymer
metal composite polymers are used for this humidity relative
electrodynamical study. Insight on the numerous applications of
electroactive polymers as actuators and the built model enabled
a controller is designed for a typical tracking problem. The
control architecture includes a Model reference adaptive scheme
along with pole-piacement control strategies to achieve the goal
of tracking. A genetic algorithm approach is implemented to
carryout an optimized control action. Tracking control of ionic
polymer metal composites as actuator resembling that of a real-
world scenario is simulated and reveals promising results.
I. INTRODUCTION
Over the past decade, research works pertaining to the
b
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