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

被引：9
作者：
Chen, Xinkai [1 ]
机构：
[1] Shibaura Inst Technol, Dept Elect Informat Syst, Saitama 3378570, Japan
来源：
IEEE ACCESS | 2018年 / 6卷
基金：
日本学术振兴会;
关键词：
IPMC; discrete-time adaptive control; hysteresis; Prandtl-Ishlinskii model; HYSTERESIS; OPTIMIZATION; SYSTEMS; MODEL;
D O I：
10.1109/ACCESS.2018.2841514
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：28114 / 28121
页数：8
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