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

Vetriselvi Velusamy¹, Dhanalakshmi Kaliaperumal¹, Seung-Bok Choi^2,3

¹Department of Instrumentation and Control Engineering, National Institute of Technology, Tiruchirappalli 620015, India.

Sensors (Basel, Switzerland)

|June 27, 2024

Summary

Shape memory polyimide composites (SMPICs) enable self-sensing actuators for mirror manipulation. A novel control strategy achieves precise vertical and angular movement with excellent performance and robustness.

Keywords:

mirror manipulator proportional derivative combined variable structure controller self-sensing shape memory alloy shape memory polyimide composite actuator

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Area of Science:

Materials Science
Robotics
Control Systems Engineering

Background:

Shape Memory Polyimide Composites (SMPICs) offer potential for integrated actuator and sensor functionalities.
Compact and cost-effective designs are sought after in various applications, including precision manipulation.
Self-sensing actuators can simplify system architecture and reduce component count.

Purpose of the Study:

To design and evaluate a mirror manipulator utilizing an SMPIC as a self-sensing actuator.
To develop and implement a sensor-less control strategy for precise position control of the mirror.
To assess the performance and practical feasibility of the proposed system.

Main Methods:

Design of a mirror manipulator incorporating an integrated thin film-based SMPIC.
Development of a sensor-less control strategy using a proportional derivative combined variable structure controller (PD-VSC).
Experimental validation of the mirror manipulator's performance in vertical and angular directions.

Main Results:

The mirror manipulator achieved precise movement of 3.39 mm vertically and 10.5 degrees angularly.
The proposed control strategy demonstrated a fast response with good tracking capabilities.
Experimental results confirmed robust disturbance rejection, stable switching, no overshoot, and no steady-state oscillations.

Conclusions:

The integrated SMPIC functions effectively as a self-sensing actuator for mirror manipulation.
The sensor-less PD-VSC strategy provides accurate and robust control for mirror positioning.
The developed system demonstrates practical feasibility for cost-effective and efficient applications.