TY - GEN
T1 - Adaptive control for ionic polymer-metal composite actuator based on continuous-time approach
AU - Chen, Xinkai
N1 - Funding Information:
⋆ This work is partially supported by JSPS Grants-in-Aid for Scientific Research C-24560553, Funds for Natural Science Foundation of China under Grant 61074097 and 61228301, and State Key Laboratory of Synthetical Automation for Process Industries (Northeastern University), China.
Publisher Copyright:
© IFAC.
PY - 2014
Y1 - 2014
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84929833528&partnerID=8YFLogxK
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U2 - 10.3182/20140824-6-za-1003.01496
DO - 10.3182/20140824-6-za-1003.01496
M3 - Conference contribution
AN - SCOPUS:84929833528
T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)
SP - 5073
EP - 5078
BT - 19th IFAC World Congress IFAC 2014, Proceedings
A2 - Boje, Edward
A2 - Xia, Xiaohua
PB - IFAC Secretariat
T2 - 19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014
Y2 - 24 August 2014 through 29 August 2014
ER -