DocumentCode
2781501
Title
Adaptive inverse control based on the creep property of IPMC
Author
Zhi, Li ; Lina, Hao
Author_Institution
Coll. of Inf. Sci. & Eng., Northeastern Univ., Shenyang, China
fYear
2009
fDate
17-19 June 2009
Firstpage
702
Lastpage
706
Abstract
IPMC is one kind of electro-active polymer materials, which is called artificial muscle. Like piezoelectric material, the creep property also exists in IPMC. In this paper we explained how the creep property created in IPMC, modified the creep model based on piezoelectric in order to get a creep model which fitted IPMC. For the creep property of IPMC changes with time, we applied adaptive inverse control to control IPMC, and got good experiment results.
Keywords
adaptive control; artificial limbs; creep; mechanical variables control; polymers; robot dynamics; adaptive inverse control; artificial muscle; creep property; ion exchange polymer metal composite; Adaptive control; Automatic control; Creep; Eigenvalues and eigenfunctions; Mathematical model; Muscles; Polymers; Programmable control; Sampling methods; Voltage; Adaptive Inverse Control; Creep; IPMC; LMS Algorithm;
fLanguage
English
Publisher
ieee
Conference_Titel
Control and Decision Conference, 2009. CCDC '09. Chinese
Conference_Location
Guilin
Print_ISBN
978-1-4244-2722-2
Electronic_ISBN
978-1-4244-2723-9
Type
conf
DOI
10.1109/CCDC.2009.5191847
Filename
5191847
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