TY - GEN
T1 - Modelling and control for ionic polymer-metal composite actuators
AU - Chen, Xinkai
AU - Kano, Hiroyuki
PY - 2015/3/2
Y1 - 2015/3/2
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84932144070&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84932144070&partnerID=8YFLogxK
U2 - 10.1109/WCICA.2014.7052969
DO - 10.1109/WCICA.2014.7052969
M3 - Conference contribution
AN - SCOPUS:84932144070
T3 - Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
SP - 1658
EP - 1663
BT - Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 11th World Congress on Intelligent Control and Automation, WCICA 2014
Y2 - 29 June 2014 through 4 July 2014
ER -