Adaptive control for ionic polymer-metal composite actuator based on continuous-time approach

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

This paper discusses the model reference adaptive control problem 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.

Original languageEnglish
Title of host publication19th IFAC World Congress IFAC 2014, Proceedings
EditorsEdward Boje, Xiaohua Xia
PublisherIFAC Secretariat
Pages5073-5078
Number of pages6
ISBN (Electronic)9783902823625
DOIs
Publication statusPublished - 2014
Event19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014 - Cape Town, South Africa
Duration: 2014 Aug 242014 Aug 29

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
Volume19
ISSN (Print)1474-6670

Other

Other19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014
CountrySouth Africa
CityCape Town
Period14/8/2414/8/29

ASJC Scopus subject areas

  • Control and Systems Engineering

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  • Cite this

    Chen, X. (2014). Adaptive control for ionic polymer-metal composite actuator based on continuous-time approach. In E. Boje, & X. Xia (Eds.), 19th IFAC World Congress IFAC 2014, Proceedings (pp. 5073-5078). (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 19). IFAC Secretariat. https://doi.org/10.3182/20140824-6-za-1003.01496