Robust PID force control of ionic polymer actuators

被引：0
作者：
Sano, Shigenori [1 ]
Takagi, Kentaro [1 ]
Hirayama, Suguru [1 ]
Sato, Susumu [1 ]
Uchiyama, Naoki [1 ]
机构：
[1] Mechanical Engineering, Toyohashi University of Technology, Toyohashi, Aichi, 441-8580, 1-1, Hibarigaoka, Tenpaku-cho
来源：
Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C | 2012年 / 78卷 / 785期
关键词：
Ionic polymer-metal composite; Kharitonov's theorem; PID control; Pole placement; Robust control;
D O I：
10.1299/kikaic.78.82
中图分类号：
学科分类号：
摘要：
This paper presents a simple robust PID tuning method for force control of ionic polymer actuators. The model is represented by a linear-time invariant system which consists of electrical and electro-mechanical models. The uncertainty is represented by an interval polynomial set of the closed-loop characteristic equation. Using Kharitonov's theorem, we show that just one Kharitonov polynomial stability critevion is necessary and sufficient for satisfying the robust stability of the system. The PID gain is determined by pole placement based on the derived Kharitonov polynomial. Experimental results show the effectiveness of the PID force control by the proposed method. © 2012 The Japan Society of Mechanical Engineers.
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页码：82 / 91
页数：9
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