Robust adaptive control with leakage modification for a nonlinear model of Ionic Polymer Metal Composites (IPMC)

Author

La, Hung M. ; Sheng, Weihua

Author_Institution

Sch. of Electr. & Comput. Eng., Oklahoma State Univ., Stillwater, OK

fYear

2009

fDate

22-25 Feb. 2009

Firstpage

1783

Lastpage

1788

Abstract

Ionic polymer metal composites (IPMC) is a smart material used widely in many industrial and medical applications. In this paper, we propose a mathematical nonlinear model for the IPMC by adding the external random disturbances, then we apply the robust adaptive control method with leakage modification to control the position of this material to reduce the tracking error, the overshoot, and the steady state of the IPMC. In addition, a controller is designed to ensure that the IPMC´s displacement response is stable and robust in the presence of different external random disturbances.

Keywords

adaptive control; composite materials; control system synthesis; metals; nonlinear control systems; polymers; position control; robust control; controller design; external random disturbances; industrial application; ionic polymer metal composites; leakage modification; mathematical nonlinear model; medical application; position control; robust adaptive control; smart material; Adaptive control; Biomedical equipment; Composite materials; Inorganic materials; Mathematical model; Medical services; Metals industry; Plastics industry; Polymers; Robust control; IPMC; Leakage modification; nonlinear model; normalized estimation error; normalizing signal;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics, 2008. ROBIO 2008. IEEE International Conference on

Conference_Location

Bangkok

Print_ISBN

978-1-4244-2678-2

Electronic_ISBN

978-1-4244-2679-9

Type

conf

DOI

10.1109/ROBIO.2009.4913272

Filename

4913272