Title :
Robust adaptive control with leakage modification for a nonlinear model of Ionic Polymer Metal Composites (IPMC)
Author :
La, Hung M. ; Sheng, Weihua
Author_Institution :
Sch. of Electr. & Comput. Eng., Oklahoma State Univ., Stillwater, OK
Abstract :
Ionic polymer metal composites (IPMC) is a smart material used widely in many industrial and medical applications. In this paper, we propose a mathematical nonlinear model for the IPMC by adding the external random disturbances, then we apply the robust adaptive control method with leakage modification to control the position of this material to reduce the tracking error, the overshoot, and the steady state of the IPMC. In addition, a controller is designed to ensure that the IPMC´s displacement response is stable and robust in the presence of different external random disturbances.
Keywords :
adaptive control; composite materials; control system synthesis; metals; nonlinear control systems; polymers; position control; robust control; controller design; external random disturbances; industrial application; ionic polymer metal composites; leakage modification; mathematical nonlinear model; medical application; position control; robust adaptive control; smart material; Adaptive control; Biomedical equipment; Composite materials; Inorganic materials; Mathematical model; Medical services; Metals industry; Plastics industry; Polymers; Robust control; IPMC; Leakage modification; nonlinear model; normalized estimation error; normalizing signal;
Conference_Titel :
Robotics and Biomimetics, 2008. ROBIO 2008. IEEE International Conference on
Conference_Location :
Bangkok
Print_ISBN :
978-1-4244-2678-2
Electronic_ISBN :
978-1-4244-2679-9
DOI :
10.1109/ROBIO.2009.4913272
