Title :
Modelling and control for ionic polymer-metal composite actuators
Author :
Xinkai Chen ; Kano, Hiroyuki
Author_Institution :
Shibaura Inst. of Technol., Saitama, Japan
Abstract :
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.
Keywords :
adaptive control; control system synthesis; electroactive polymer actuators; stability; IPMC actuators; adaptive controller; design parameters; global stability; hysteresis representation; ionic polymer-metal composite actuators; mathematical model; position error; second order dynamical system stability; Actuators; Adaptation models; Adaptive control; Hysteresis; Mathematical model; Polynomials; Stability analysis;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2014 11th World Congress on
DOI :
10.1109/WCICA.2014.7052969
