Robust nonlinear control design for an IPMC by using ABC-based operator approach

Wudai Liao, Tongbin Yan, Aihui Wang, Shengjun Wen, Xinkai Chen

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

Abstract

In this paper, a robust nonlinear control design for ionic polymer metal composite (IPMC) with uncertainties is proposed by using artificial bee colony based-operator approach. In detail, first, for a nonlinear IPMC dynamic model with uncertainties, a robust control system based on operator based robust right coprime factorization (RRCF) approach is presented. Second, considering the unknown uncertain plant that generates limitations in obtaining so-called universal condition, a proportional integral (PI) controller is designed to realize tracking control for the proposed robust stable system. Moreover, an artificial bee colony (ABC) algorithm is used to obtain on line the control parameters (Kp, Ki) of PI controller. Finally, the effectiveness of the proposed control system is confirmed by simulation results.

Original languageEnglish
Title of host publication2015 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages440-444
Number of pages5
ISBN (Electronic)9784907764487
DOIs
Publication statusPublished - 2015 Sep 30
Event54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015 - Hangzhou, China
Duration: 2015 Jul 282015 Jul 30

Other

Other54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015
CountryChina
CityHangzhou
Period15/7/2815/7/30

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Keywords

  • artificial bee colony algorithm
  • IPMC
  • robust nonlinear control
  • robust right coprime factorization

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Liao, W., Yan, T., Wang, A., Wen, S., & Chen, X. (2015). Robust nonlinear control design for an IPMC by using ABC-based operator approach. In 2015 54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015 (pp. 440-444). [7285335] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SICE.2015.7285335