{"title":"基于连续时间方法的离子聚合物-金属复合驱动器自适应控制","authors":"Xinkai Chen","doi":"10.3182/20140824-6-ZA-1003.01496","DOIUrl":null,"url":null,"abstract":"Abstract This paper discusses the model reference adaptive control problem 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.","PeriodicalId":13260,"journal":{"name":"IFAC Proceedings Volumes","volume":"17 1","pages":"5073-5078"},"PeriodicalIF":0.0000,"publicationDate":"2014-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":"{\"title\":\"Adaptive Control for Ionic Polymer-Metal Composite Actuator Based on Continuous-Time Approach\",\"authors\":\"Xinkai Chen\",\"doi\":\"10.3182/20140824-6-ZA-1003.01496\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Abstract This paper discusses the model reference adaptive control problem 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.\",\"PeriodicalId\":13260,\"journal\":{\"name\":\"IFAC Proceedings Volumes\",\"volume\":\"17 1\",\"pages\":\"5073-5078\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2014-01-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"3\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"IFAC Proceedings Volumes\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.3182/20140824-6-ZA-1003.01496\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"IFAC Proceedings Volumes","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.3182/20140824-6-ZA-1003.01496","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Adaptive Control for Ionic Polymer-Metal Composite Actuator Based on Continuous-Time Approach
Abstract This paper discusses the model reference adaptive control problem 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.
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