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

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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 publicationIFAC Proceedings Volumes (IFAC-PapersOnline)
PublisherIFAC Secretariat
Pages5073-5078
Number of pages6
Volume19
ISBN (Print)9783902823625
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

Other

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

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ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Chen, X. (2014). Adaptive control for ionic polymer-metal composite actuator based on continuous-time approach. In IFAC Proceedings Volumes (IFAC-PapersOnline) (Vol. 19, pp. 5073-5078). IFAC Secretariat.