TY - GEN
T1 - Control design for ionic polymer-metal composite based actuators
AU - Chen, Xinkai
AU - Su, Chun Yi
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/10/21
Y1 - 2014/10/21
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.
KW - IPMC
KW - hysteresis
KW - robust control
KW - smart material
UR - http://www.scopus.com/inward/record.url?scp=84914113129&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84914113129&partnerID=8YFLogxK
U2 - 10.1109/ICInfA.2014.6932762
DO - 10.1109/ICInfA.2014.6932762
M3 - Conference contribution
AN - SCOPUS:84914113129
T3 - 2014 IEEE International Conference on Information and Automation, ICIA 2014
SP - 806
EP - 811
BT - 2014 IEEE International Conference on Information and Automation, ICIA 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE International Conference on Information and Automation, ICIA 2014
Y2 - 28 July 2014 through 30 July 2014
ER -