HAL will be down for maintenance from Friday, June 10 at 4pm through Monday, June 13 at 9am. More information
Skip to Main content Skip to Navigation
Journal articles

Robust linear control of a bending molecular artificial muscle based on spin crossover molecules

Abstract : Bending actuators represent a popular class of artificial muscles for which efficient closed-loop control is a remarkable challenge, due to the complexity of physico-chemical phenomena occurring during dynamic contraction. In this study, we investigate an electro-thermally actuated, bilayer bending actuator based on spin crossover molecules. While these artificial muscles can open-loop contract in several tens of seconds, we show that a simple closed-loop PID-control is able to reduce the response time to ca. 1.5 s, even with loads up to 5 times the actuator weight (i.e. a maximal load of about 343 mg). We demonstrate also satisfactory sine wave tracking performance. The relevance of this linear control approach applied to a nonlinear actuator is the consequence of the high sensibility of the actuator to the current, responsible for the Joule effect. Notably, the actuator roughly behaves like a second-order linear system, whose time “constants” decrease with current. Consequently, the natural speed improvement peculiar to the PID-controller is further amplified by this nonlinear effect, without any loss in stability of the closed-loop system.
Complete list of metadata

https://hal.archives-ouvertes.fr/hal-03525817
Contributor : Marie-Hélène Gulli Connect in order to contact the contributor
Submitted on : Friday, January 14, 2022 - 10:00:19 AM
Last modification on : Tuesday, April 5, 2022 - 3:44:00 AM
Long-term archiving on: : Friday, April 15, 2022 - 6:24:42 PM

File

 Restricted access
To satisfy the distribution rights of the publisher, the document is embargoed until : 2022-07-07

Please log in to resquest access to the document

Identifiers

Citation

Bertrand Tondu, Mario Piedrahita-Bello, L. Salmon, Gábor Molnár, Azzedine Bousseksou. Robust linear control of a bending molecular artificial muscle based on spin crossover molecules. Sensors and Actuators A: Physical , Elsevier, 2022, 335, pp.113359. ⟨10.1016/j.sna.2021.113359⟩. ⟨hal-03525817⟩

Share

Metrics

Record views

22