Discrete-Time Adaptive Control Design for Ionic Polymer-Metal Composite Actuators

Research output: Contribution to journalArticle

2 Citations (Scopus)

Abstract

Discrete-time adaptive control for ionic polymer-metal composite (IPMC) actuator is studied in this paper. First, a new mathematical model in discrete-time domain is proposed for IPMC actuator. Then, based on the obtained model, a discrete adaptive control law is synthesized for IPMC actuators. The proposed discrete adaptive controller can guarantee the global stability of the closed-loop system, and the position tracking error of the IPMC actuator can be controlled by the design parameters. Finally, the proposed model and control law are verified by IPMC actuator experiments.

Original languageEnglish
JournalIEEE Access
DOIs
Publication statusAccepted/In press - 2018 May 26

Fingerprint

Polymers
Actuators
Metals
Composite materials
Closed loop systems
Mathematical models
Controllers
Experiments

Keywords

  • discrete-time adaptive control
  • hysteresis
  • IPMC
  • Prandtl-Ishlinskii model

ASJC Scopus subject areas

  • Computer Science(all)
  • Materials Science(all)
  • Engineering(all)

Cite this

Discrete-Time Adaptive Control Design for Ionic Polymer-Metal Composite Actuators. / Chen, Xinkai.

In: IEEE Access, 26.05.2018.

Research output: Contribution to journalArticle

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