Are there different types of inks for different types of substrates?

In a word, YES. Polyester fabrics need bleed resistance, usually a Low Bleed White under base.

Nylon fabrics need better adhesion qualities, either with catalyst or specially made inks. 

Lycra needs an ink product with great elongation, which is usually a fast fusion product (270F-285F cure temperatures).

Though it would be nice to create do-all ink, the properties of the different substrates make it impossible to create such a product. You must know your substrate, and then research the ink line you would like to use. The best source is from your supplier or ink manufacturer; keep product information bulletins on file for reference. Sometimes, the selection or manipulation of the ink isn’t the answer.