Title :
Control design for ionic polymer-metal composite based actuators
Author :
Xinkai Chen ; Chun-Yi Su
Author_Institution :
Shibaura Inst. of Technol., Saitama, Japan
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; position control; stability; IPMC actuator; adaptive controller; control design; control law; design parameters; global stability; hysteresis representation; ionic polymer-metal composite based actuators; position error control; stable second order dynamical system; Actuators; Adaptation models; Adaptive control; Hysteresis; Mathematical model; Polymers; Polynomials; IPMC; hysteresis; robust control; smart material;
Conference_Titel :
Information and Automation (ICIA), 2014 IEEE International Conference on
Conference_Location :
Hailar
DOI :
10.1109/ICInfA.2014.6932762
