MODELLING VIRTUAL ENTERPRISES USING MULTI AGENT SYSTEMS APPROACH

Abstract

Selemion CMV-basedIPMC (Ionic Polymer Metal Composite) actuators have numerous promising applications in designing electroactivesoft motion robots. This research work presents feedforward, feedback and two-degree-of-freedom control analysis applied to the Selemion CMV-based IPMC actuators. The time dependent charge behaviours obtained by employing the circuit model successfully resulted in the prediction of bending behaviour of the IPMC.A circuit model had been proposed for deriving the time-dependent behaviour of charge, which was caused by both Faradaic and non-Faradaic currents, passing through the IPMC. The time dependent charge behaviour’s obtained by employing the circuit model successfully resulted in the prediction of bending behaviour of the IPMC. In previous research, using Simulink – Matlab, an open loop model was built, based on the circuit model and the stability analysis of the Selemion CMV-based IPMC bending behaviour was carried out. In this study, using the actuators dynamics and transfer functions, self-sensing controllers, using feedforward, feedback and two-degree-of-freedom control techniques, were implemented. The controllers performed well with the Selemion CMV-based IPMC actuator. The highly dehydrated Selemion CMV-based IPMC bending behaviour exhibited a fairly linear relationship of curvature vs. charge in extremely low absolute humidity environment.