Precision Control for Ionic Polymer Metal Composite Actuator Based on Quantitative Feedback Theory

被引：0

作者：

Doan Ngoc Chi Nam ^{[1
]}

Dinh Quang Truong ^{[1
]}

Il, Yoon Jong ^{[1
]}

Kwan, Ahn Kyoung ^{[2
]}

机构：

[1] Univ Ulsan, Grad Sch Mech & Automot Engn, Ulsan, South Korea

[2] Univ Ulsan, Sch Mech & Automot Engn, Ulsan, South Korea

来源：

INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS (ICCAS 2010) | 2010年

关键词：

Ion Polymer Metal Composite (IPMC); Quantitative Feedback Theory (QFT); Position Robust Control;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

An ion polymer metal composite (IPMC) is an Electro-Active Polymer (EAP) that bends in response to a small applied electrical field as a result of mobility of cations in the polymer network and vice versa. Recently, IPMC is widely applied in many fields such as biometric, biomedical and micro manipulator fields. This paper proposes a robust position controller for IPMCs which is based on the quantitative feedback theory (QFT). Firstly, the IPMC actuation was investigated. The PRBS input voltage signals were applied to the IPMC in order to identify the system characteristic. Consequently, the QFT controller for the IPMC was designed from the identified IPMC model. Experiments were carried out to validate the effectiveness of proposed controller applied to the IPMC.

引用

页码：443 / 447

页数：5