Discrete-Time Adaptive Control Design for Ionic Polymer-Metal Composite Actuators

研究成果: Article

2 引用 (Scopus)

抄録

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.

元の言語English
ジャーナルIEEE Access
DOI
出版物ステータスAccepted/In press - 2018 5 26

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Polymers
Actuators
Metals
Composite materials
Closed loop systems
Mathematical models
Controllers
Experiments

ASJC Scopus subject areas

  • Computer Science(all)
  • Materials Science(all)
  • Engineering(all)

これを引用

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abstract = "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.",
keywords = "discrete-time adaptive control, hysteresis, IPMC, Prandtl-Ishlinskii model",
author = "Xinkai Chen",
year = "2018",
month = "5",
day = "26",
doi = "10.1109/ACCESS.2018.2841514",
language = "English",
journal = "IEEE Access",
issn = "2169-3536",
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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 - discrete-time adaptive control

KW - hysteresis

KW - IPMC

KW - Prandtl-Ishlinskii model

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