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Smart Structures and Systems Volume 20, Number 4, October 2017 , pages 499-508 DOI: https://doi.org/10.12989/sss.2017.20.4.499 |
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Dynamic modeling and control of IPMC hydrodynamic propulsor |
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Shivendra K. Agrahari and Sujoy Mukherjee
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| Abstract | ||
| The ionic polymer–metal composite (IPMC) is an electroactive polymer material and has a promising potential as actuators for propulsion and locomotion in underwater systems. In this paper a physics based model is used to analyse the actuation dynamics of the IPMC propulsor. Moreover, proportional-integral (PI) controller is used for position control of the tip displacement of IPMC propulsor. PI parameter tuning is performed using particle swarm optimization (PSO) algorithm. Several performance indices have been used as an objective function to optimize the error of the system. Finally, the best tuning method is found out by comparing the results under various performance indices. | ||
| Key Words | ||
| Ionic Polymer Metal Composite (IPMC); smart materials; propulsor; PI controller; PSO algorithm | ||
| Address | ||
| Shivendra K. Agrahari and Sujoy Mukherjee: PDPM Indian Institute of Information and Technology, Design and Manufacturing Jabalpur – 482005, Madhya Pradesh, India | ||