Sensor-Less Control of Mirror Manipulator Using Shape Memory Polyimide Composite Actuator: Experimental Work

Integrated thin film-based shape memory polyimide composites (SMPICs) are potentially attractive for efficient and compact design, thereby offering cost-effective applications. The objective of this article is to design and evaluate a mirror manipulator using an SMPIC as an actuator and a sensor with control. A sensor-less control strategy using the SMPIC (a self-sensing actuator) with a proportional derivative combined variable structure controller (PD-VSC) is proposed for position control of the mirror in both the vertical and angular directions. The mirror manipulator is able to move the mirror in the vertical and angular directions by 3.39 mm and 10.5 deg, respectively. A desired fast response is obtained as the performance under control. In addition, some benefits from the proposed control realization include good tracking, stable switching, no overshoot, no steady state oscillations, and robust disturbance rejection. These superior properties are experimentally validated to reflect practical feasibility.