Design and robust control of micro-actuators for positioning systems

The design and control of micro-actuators are crucial for applications in robotics, aerospace, and healthcare. This research focuses on positioning systems using piezoelectric and Ionic Polymer Metal Composite (IPMC) actuators. It begins with a detailed review of these actuators, covering their principles, fabrication, and performance. A piezoelectric-driven system is designed for precise, fast movement, followed by a dual-stage system for greater accuracy and displacement. Advanced control methods, including reinforcement learning and sliding mode control, are applied to improve accuracy and robustness. These systems show significant potential for enhancing precision in challenging environments like underwater settings, surgical tools and high-precision manufacturing.