TY - GEN
T1 - Robust control for ionic polymer-metal composite actuators
AU - Chen, Xinkai
PY - 2014/1/1
Y1 - 2014/1/1
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=84906976565&partnerID=8YFLogxK
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U2 - 10.1109/ICMA.2014.6885747
DO - 10.1109/ICMA.2014.6885747
M3 - Conference contribution
AN - SCOPUS:84906976565
SN - 9781479939787
T3 - 2014 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014
SP - 491
EP - 496
BT - 2014 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014
PB - IEEE Computer Society
T2 - 11th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014
Y2 - 3 August 2014 through 6 August 2014
ER -