Vision based sliding mode control of micro displacement of a conjugated electroactive polymer actuator

In this paper, vision based displacement control of a tri-layer conjugated electro-active polymer actuator has been performed in micrometer resolution. sliding mode control with different reaching laws which is robust to unmodeled uncertainties has been used as the control method. a microscope has been used to observe position of the free end point of the actuator and a vision based system has been employed for feedback signal. experimental results show that the conjugated electro-active polymer actuators can be successfully controlled in micrometer resolution and can be used in applications which includes micromanipulation like cell injection.