DocumentCode
3572771
Title
Modelling and control for ionic polymer-metal composite actuators
Author
Xinkai Chen ; Kano, Hiroyuki
Author_Institution
Shibaura Inst. of Technol., Saitama, Japan
fYear
2014
Firstpage
1658
Lastpage
1663
Abstract
This paper discusses the model and control for ionic polymer-metal composite (IPMC) actuators. Firstly, a mathematical model of the IPMC actuator is constructed as a stable second order dynamical system preceded by a hysteresis representation. Then, an adaptive controller is synthesized for the IPMC actuator. The proposed control law ensures the global stability of the controlled IPMC system, and the position error of IPMC actuator can be controlled by choosing the design parameters. Experimental results confirm the effectiveness of the proposed method.
Keywords
adaptive control; control system synthesis; electroactive polymer actuators; stability; IPMC actuators; adaptive controller; design parameters; global stability; hysteresis representation; ionic polymer-metal composite actuators; mathematical model; position error; second order dynamical system stability; Actuators; Adaptation models; Adaptive control; Hysteresis; Mathematical model; Polynomials; Stability analysis;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Control and Automation (WCICA), 2014 11th World Congress on
Type
conf
DOI
10.1109/WCICA.2014.7052969
Filename
7052969
Link To Document