Modelling and control for ionic polymer-metal composite actuators

Xinkai Chen, Hiroyuki Kano

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

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 publicationProceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1658-1663
Number of pages6
EditionMarch
ISBN (Electronic)9781479958252
DOIs
Publication statusPublished - 2015 Mar 2
Event2014 11th World Congress on Intelligent Control and Automation, WCICA 2014 - Shenyang, China
Duration: 2014 Jun 292014 Jul 4

Publication series

NameProceedings of the World Congress on Intelligent Control and Automation (WCICA)
NumberMarch
Volume2015-March

Other

Other2014 11th World Congress on Intelligent Control and Automation, WCICA 2014
CountryChina
CityShenyang
Period14/6/2914/7/4

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Science Applications

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  • Cite this

    Chen, X., & Kano, H. (2015). Modelling and control for ionic polymer-metal composite actuators. In Proceeding of the 11th World Congress on Intelligent Control and Automation, WCICA 2014 (March ed., pp. 1658-1663). [7052969] (Proceedings of the World Congress on Intelligent Control and Automation (WCICA); Vol. 2015-March, No. March). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/WCICA.2014.7052969