DocumentCode
1791930
Title
Robust control for ionic polymer-metal composite actuators
Author
Xinkai Chen
Author_Institution
Shibaura Inst. of Technol., Saitama, Japan
fYear
2014
fDate
3-6 Aug. 2014
Firstpage
491
Lastpage
496
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; robust control; IPMC actuator; adaptive controller; design parameters; global stability; ionic polymer-metal composite actuators; mathematical model; position error; robust control; second order dynamical system stability; Actuators; Adaptation models; Adaptive control; Hysteresis; Mathematical model; Polymers; Polynomials;
fLanguage
English
Publisher
ieee
Conference_Titel
Mechatronics and Automation (ICMA), 2014 IEEE International Conference on
Conference_Location
Tianjin
Print_ISBN
978-1-4799-3978-7
Type
conf
DOI
10.1109/ICMA.2014.6885747
Filename
6885747
Link To Document