TY - GEN
T1 - Advanced digital control design for ionic polymer-metal composite actuators
AU - Chen, Xinkai
PY - 2018/12/26
Y1 - 2018/12/26
N2 - Discrete-time adaptive control for ionic polymer-metal composite (IPMC) actuator is studied in this paper. First, a new mathematical model in discrete-time domain is proposed for IPMC actuator. Then, based on the obtained model, a discrete adaptive control law is synthesized for IPMC actuators. The proposed discrete adaptive controller can guarantee the global stability of the closed-loop system, and the position tracking error of the IPMC actuator can be controlled by the design parameters. Finally, the proposed model and control law are verified by IPMC actuator experiments.
AB - Discrete-time adaptive control for ionic polymer-metal composite (IPMC) actuator is studied in this paper. First, a new mathematical model in discrete-time domain is proposed for IPMC actuator. Then, based on the obtained model, a discrete adaptive control law is synthesized for IPMC actuators. The proposed discrete adaptive controller can guarantee the global stability of the closed-loop system, and the position tracking error of the IPMC actuator can be controlled by the design parameters. Finally, the proposed model and control law are verified by IPMC actuator experiments.
KW - Discrete-time adaptivecontrol
KW - Hysteresis
KW - IPMC
KW - Prandtl-Ishlinskii model
UR - http://www.scopus.com/inward/record.url?scp=85061535662&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85061535662&partnerID=8YFLogxK
U2 - 10.1109/IECON.2018.8591333
DO - 10.1109/IECON.2018.8591333
M3 - Conference contribution
AN - SCOPUS:85061535662
T3 - Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society
SP - 2207
EP - 2212
BT - Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 44th Annual Conference of the IEEE Industrial Electronics Society, IECON 2018
Y2 - 20 October 2018 through 23 October 2018
ER -