抄録
This paper discusses the modeling and control of the ionic polymer-metal composite (IPMC) actuators which have many promising applications in biomechatronics. A novel mathematical model in continuous-time domain of the IPMC actuator, being a stable second-order dynamical system preceded by a nonlinear hysteresis representation, is proposed. An adaptive controller is formulated for the IPMC actuator based on the proposed model. The proposed adaptive control law ensures the global stability of the controlled IPMC system, and the position error of the IPMC actuator can be theoretically guaranteed to converge to zero. The effectiveness of the proposed model and the superiority of the proposed control to the traditional proportional-integral-derivative control are verified by experimental results.
| 本文言語 | English |
|---|---|
| 論文番号 | 7414461 |
| ページ（範囲） | 1468-1477 |
| ページ数 | 10 |
| ジャーナル | IEEE Transactions on Systems, Man, and Cybernetics: Systems |
| 巻 | 46 |
| 号 | 10 |
| DOI | |
| 出版ステータス | Published - 2016 10月 |
ASJC Scopus subject areas
- ソフトウェア
- 制御およびシステム工学
- 人間とコンピュータの相互作用
- コンピュータ サイエンスの応用
- 電子工学および電気工学