Robust control for ionic polymer-metal composite actuators

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 publication2014 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014
PublisherIEEE Computer Society
Pages491-496
Number of pages6
ISBN (Print)9781479939787
DOIs
Publication statusPublished - 2014 Jan 1
Event11th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014 - Tianjin, China
Duration: 2014 Aug 32014 Aug 6

Publication series

Name2014 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014

Conference

Conference11th IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014
CountryChina
CityTianjin
Period14/8/314/8/6

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Mechanical Engineering

Cite this

Chen, X. (2014). Robust control for ionic polymer-metal composite actuators. In 2014 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014 (pp. 491-496). [6885747] (2014 IEEE International Conference on Mechatronics and Automation, IEEE ICMA 2014). IEEE Computer Society. https://doi.org/10.1109/ICMA.2014.6885747