# Sensor-Less Control of Mirror Manipulator Using Shape Memory Polyimide Composite Actuator: Experimental Work

## TL;DR

This paper presents a sensor-less control system for a mirror manipulator using a shape memory polyimide composite actuator, achieving precise and stable movement.

## Contribution

The novelty lies in the sensor-less control strategy using a self-sensing actuator with a PD-VSC for mirror manipulation.

## Key findings

- The mirror manipulator achieved 3.39 mm vertical and 10.5 deg angular movement.
- The control system provided fast response, stable switching, and robust disturbance rejection.
- The system showed good tracking and no steady-state oscillations or overshoot.

## Abstract

Integrated thin film-based shape memory polyimide composites (SMPICs) are potentially attractive for efficient and compact design, thereby offering cost-effective applications. The objective of this article is to design and evaluate a mirror manipulator using an SMPIC as an actuator and a sensor with control. A sensor-less control strategy using the SMPIC (a self-sensing actuator) with a proportional derivative combined variable structure controller (PD-VSC) is proposed for position control of the mirror in both the vertical and angular directions. The mirror manipulator is able to move the mirror in the vertical and angular directions by 3.39 mm and 10.5 deg, respectively. A desired fast response is obtained as the performance under control. In addition, some benefits from the proposed control realization include good tracking, stable switching, no overshoot, no steady state oscillations, and robust disturbance rejection. These superior properties are experimentally validated to reflect practical feasibility.