Control design for ionic polymer-metal composite based actuators

Xinkai Chen, Chun Yi Su

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

1 Citation (Scopus)

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.

Original languageEnglish
Title of host publication2014 IEEE International Conference on Information and Automation, ICIA 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages806-811
Number of pages6
ISBN (Electronic)9781479941001
DOIs
Publication statusPublished - 2014 Oct 21
Event2014 IEEE International Conference on Information and Automation, ICIA 2014 - Hailar, Hulunbuir, China
Duration: 2014 Jul 282014 Jul 30

Publication series

Name2014 IEEE International Conference on Information and Automation, ICIA 2014

Conference

Conference2014 IEEE International Conference on Information and Automation, ICIA 2014
CountryChina
CityHailar, Hulunbuir
Period14/7/2814/7/30

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Keywords

  • IPMC
  • hysteresis
  • robust control
  • smart material

ASJC Scopus subject areas

  • Modelling and Simulation

Cite this

Chen, X., & Su, C. Y. (2014). Control design for ionic polymer-metal composite based actuators. In 2014 IEEE International Conference on Information and Automation, ICIA 2014 (pp. 806-811). [6932762] (2014 IEEE International Conference on Information and Automation, ICIA 2014). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICInfA.2014.6932762