{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,6]],"date-time":"2026-01-06T02:08:34Z","timestamp":1767665314671,"version":"3.38.0"},"reference-count":48,"publisher":"SAGE Publications","issue":"6","license":[{"start":{"date-parts":[[2012,4,26]],"date-time":"2012-04-26T00:00:00Z","timestamp":1335398400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering"],"published-print":{"date-parts":[[2012,7]]},"abstract":"<jats:p> Conjugated polymers are emerging materials which have a wide range of applications including biomimetic robots and biomedical devices. These novel materials attract considerable attention owing to their interesting sensing and actuating behavior. However, complicated electro-chemo-mechanical dynamics is a drawback for their application in functional devices. Although extensive research has been conducted on static modeling of conductive polymers, the dynamic modeling is not well understood. In this paper we focus on dynamic modeling and robust control of a fast trilayer polypyrrole actuator as a distributed parameter system. The Euler\u2013Bernoulli beam model with inclusion of Kelvin\u2013Voigt damping and tip loading is utilized for vibration analysis of the smart actuator. Considering the spatio-temporal dynamics of the actuator, a one-point feedback controller based on quantitative feedback theory is designed that can suppress arbitrary external disturbances and consistently track desired inputs. <\/jats:p>","DOI":"10.1177\/0959651811435299","type":"journal-article","created":{"date-parts":[[2012,4,27]],"date-time":"2012-04-27T02:48:46Z","timestamp":1335494926000},"page":"806-822","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":6,"title":["Robust control of conjugated polymer actuators considering the spatio-temporal dynamics"],"prefix":"10.1177","volume":"226","author":[{"given":"Keivan","family":"Torabi","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, University of Kashan, Islamic Republic of Iran"}]},{"given":"Amir Ali","family":"Amiri Moghadam","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Ferdowsi University of Mashhad, Islamic Republic of Iran"}]}],"member":"179","published-online":{"date-parts":[[2012,4,26]]},"reference":[{"key":"bibr1-0959651811435299","unstructured":"Hollerbach JM, Hunter IW, Ballantyne J. A comparative analysis of actuator technologies for robotics. Cambridge, MA: MIT Press, 1992, pp.299\u2013342."},{"key":"bibr2-0959651811435299","doi-asserted-by":"publisher","DOI":"10.1109\/SOLSEN.1992.228297"},{"volume-title":"Electroactive polymer (EAP) actuators as artificial muscles: Reality, potential, and challenges","year":"2001","author":"Bar-Cohen Y","key":"bibr3-0959651811435299"},{"key":"bibr4-0959651811435299","doi-asserted-by":"publisher","DOI":"10.1002\/adma.200390113"},{"key":"bibr5-0959651811435299","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2009.2027812"},{"key":"bibr6-0959651811435299","doi-asserted-by":"publisher","DOI":"10.1061\/40337(205)3"},{"key":"bibr7-0959651811435299","doi-asserted-by":"publisher","DOI":"10.1126\/science.290.5496.1540"},{"key":"bibr8-0959651811435299","doi-asserted-by":"publisher","DOI":"10.1504\/IJMIC.2011.042657"},{"key":"bibr9-0959651811435299","doi-asserted-by":"publisher","DOI":"10.1088\/0964-1726\/6\/1\/003"},{"key":"bibr10-0959651811435299","doi-asserted-by":"publisher","DOI":"10.1126\/science.268.5218.1735"},{"key":"bibr11-0959651811435299","doi-asserted-by":"publisher","DOI":"10.1016\/0379-6779(94)03226-V"},{"key":"bibr12-0959651811435299","unstructured":"Madden DW. Conducting polymer actuators. PhD Thesis, Massachusetts Institute of Technology, USA, 2000."},{"key":"bibr13-0959651811435299","doi-asserted-by":"publisher","DOI":"10.1016\/j.synthmet.2006.06.022"},{"key":"bibr14-0959651811435299","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2008.2000883"},{"key":"bibr15-0959651811435299","doi-asserted-by":"publisher","DOI":"10.1016\/j.snb.2005.10.023"},{"key":"bibr16-0959651811435299","doi-asserted-by":"publisher","DOI":"10.1016\/j.sna.2010.06.002"},{"key":"bibr17-0959651811435299","doi-asserted-by":"publisher","DOI":"10.1016\/j.msec.2007.04.024"},{"key":"bibr18-0959651811435299","doi-asserted-by":"publisher","DOI":"10.1016\/S0379-6779(00)00195-8"},{"key":"bibr19-0959651811435299","unstructured":"John SW. Modelling and control of conductive polymer actuators. PhD Thesis, University of Wollongong, Australia, 2008."},{"key":"bibr20-0959651811435299","doi-asserted-by":"publisher","DOI":"10.3233\/JAE-2011-1359"},{"volume-title":"Advanced vibration analysis","year":"2007","author":"Kelly SG","key":"bibr21-0959651811435299"},{"key":"bibr22-0959651811435299","volume-title":"Elements of vibration analysis","author":"Meirovitch L","year":"1986","edition":"2"},{"key":"bibr23-0959651811435299","doi-asserted-by":"publisher","DOI":"10.1106\/VJ5T-9JML-BHV8-M2CG"},{"key":"bibr24-0959651811435299","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2003.812835"},{"first-page":"740","volume-title":"Proceedings of the 2004 American control conference","author":"Bhat ND","key":"bibr25-0959651811435299"},{"key":"bibr26-0959651811435299","doi-asserted-by":"publisher","DOI":"10.1088\/0964-1726\/16\/6\/049"},{"key":"bibr27-0959651811435299","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2006.1641973"},{"key":"bibr28-0959651811435299","doi-asserted-by":"publisher","DOI":"10.1088\/0964-1726\/17\/4\/045020"},{"key":"bibr29-0959651811435299","first-page":"163","volume-title":"Proceedings of the IEEE\/ASME international conference on advanced intelligent mechatronics","author":"Hunt A","year":"2010"},{"key":"bibr30-0959651811435299","doi-asserted-by":"publisher","DOI":"10.1016\/j.sna.2010.03.007"},{"key":"bibr31-0959651811435299","unstructured":"Madden PGA. Development and modeling of conducting polymer actuators and the fabrication of a conducting polymer based feedback loop. PhD Thesis, Massachusetts Institute of Technology, USA, 2003."},{"key":"bibr32-0959651811435299","unstructured":"Bowers TA. Modeling, simulation, and control of a polypyrrole-based conducting polymer actuator. MSc Thesis, Massachusetts Institute of Technology, USA, 2004."},{"key":"bibr33-0959651811435299","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2007.912112"},{"key":"bibr34-0959651811435299","first-page":"1038","volume-title":"Proceedings of the 41st international symposium on robotics (ISR) and 6th German conference on robotics (ROBOTIK)","author":"Amiri Moghadam AA","year":"2010"},{"key":"bibr35-0959651811435299","doi-asserted-by":"publisher","DOI":"10.1243\/09596518JSCE831"},{"key":"bibr36-0959651811435299","first-page":"181","volume-title":"Proceedings of 17th annual international conference on mechanical engineering","author":"Torabi K","year":"2009"},{"key":"bibr37-0959651811435299","doi-asserted-by":"publisher","DOI":"10.1039\/b618204f"},{"volume-title":"Synthesis of feedback systems","year":"1963","author":"Horowitz IM","key":"bibr38-0959651811435299"},{"key":"bibr39-0959651811435299","doi-asserted-by":"publisher","DOI":"10.1080\/00207177208932261"},{"key":"bibr40-0959651811435299","doi-asserted-by":"publisher","DOI":"10.1080\/00207177808922376"},{"key":"bibr41-0959651811435299","volume-title":"Quantitative feedback design theory (QFT)","volume":"1","author":"Horowitz IM","year":"1992"},{"volume-title":"Quantitative feedback theory (QFT) for the engineer: A paradigm for the design of control systems for uncertain nonlinear plants","year":"1995","author":"Houpis CH","key":"bibr42-0959651811435299"},{"key":"bibr43-0959651811435299","first-page":"206","volume":"225","author":"Moghadam AAA","year":"2009","journal-title":"Proc IMechE, Part I: J. Systems and Control Engineering"},{"key":"bibr44-0959651811435299","doi-asserted-by":"publisher","DOI":"10.1080\/00207178308933082"},{"key":"bibr45-0959651811435299","doi-asserted-by":"publisher","DOI":"10.1080\/00207178408933323"},{"key":"bibr46-0959651811435299","doi-asserted-by":"publisher","DOI":"10.1080\/00207178908559679"},{"key":"bibr47-0959651811435299","doi-asserted-by":"publisher","DOI":"10.1109\/9.8653"},{"key":"bibr48-0959651811435299","doi-asserted-by":"publisher","DOI":"10.1002\/rnc.1109"}],"container-title":["Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0959651811435299","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/full-xml\/10.1177\/0959651811435299","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/0959651811435299","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,3,4]],"date-time":"2025-03-04T03:21:56Z","timestamp":1741058516000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/0959651811435299"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2012,4,26]]},"references-count":48,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2012,7]]}},"alternative-id":["10.1177\/0959651811435299"],"URL":"https:\/\/doi.org\/10.1177\/0959651811435299","relation":{},"ISSN":["0959-6518","2041-3041"],"issn-type":[{"type":"print","value":"0959-6518"},{"type":"electronic","value":"2041-3041"}],"subject":[],"published":{"date-parts":[[2012,4,26]]}}}