TY - JOUR
T1 - Discrete-Time Adaptive Control Design for Ionic Polymer-Metal Composite Actuators
AU - Chen, Xinkai
N1 - Funding Information:
This work was supported by the Grants-in-Aid for Scientific Research of the Japan Society for the Promotion of Science under Grants C-15K06152, C-18K04212, and 14032011-000073.
PY - 2018/5/26
Y1 - 2018/5/26
N2 - 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.
AB - 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.
KW - IPMC
KW - Prandtl-Ishlinskii model
KW - discrete-time adaptive control
KW - hysteresis
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U2 - 10.1109/ACCESS.2018.2841514
DO - 10.1109/ACCESS.2018.2841514
M3 - Article
AN - SCOPUS:85047630964
SN - 2169-3536
VL - 6
SP - 28114
EP - 28121
JO - IEEE Access
JF - IEEE Access
ER -