Physical Sciences and Mathematics Commons^™

Control-Oriented Nonlinear Modeling Of Polyvinyl Chloride (Pvc) Gel Actuators, Mohammed Al-Rubaiai, Xinda Qi, Zachary Frank, Ryohei Tsuruta, Umesh Gandhi, Kwang J. Kim, Xiaobo Tan

Mechanical Engineering Faculty Research

Polyvinyl chloride (PVC) gel-based actuators are a new class of soft, electroactive polymer actuators with several attractive properties, including low cost, large compliance, large strain output, high-stress output, fast response, and stability against thermal influence. While PVC gel actuators are quickly gaining attention, they remain largely unexplored despite their great potential in a long list of applications compared with many other smart material actuators. In particular, little work has been reported on modeling nonlinear dynamics of PVC actuators. In this work a nonlinear, control-oriented Hammerstein model, with a polynomial nonlinearity preceding a transfer function, is proposed to capture the amplitude-dependent …