Modelling and Control for Ionic Polymer-Metal Composite Actuators

被引：0
|
作者：
Chen, Xinkai [1 ]
Kano, Hiroyuki [2 ]
机构：
[1] Shibaura Inst Technol, Saitama, Saitama 3378570, Japan
[2] Tokyo Denki Univ, Saitama 3500394, Japan
来源：
2014 11TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA) | 2014年
关键词：
ADAPTIVE-CONTROL; HYSTERESIS; SYSTEMS; IDENTIFICATION; COMPENSATION;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：1658 / 1663
页数：6
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