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
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;
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
DOI :
10.1109/CCDC.2009.5191847
