Adaptive Control for Ionic Polymer-Metal Composite Actuators
Adaptive Control for Ionic Polymer-Metal Composite Actuators
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DOI：
10.1109/tsmc.2016.2523921
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发表时间：
2016-02
期刊：
影响因子：
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通讯作者：
Xinkai Chen;C. Su
中科院分区：
文献类型：
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作者：
Xinkai Chen;C. Su
离子聚合物-金属复合材料（IPMC）驱动器在生物机电一体化领域有着广泛的应用前景，本文讨论了IPMC驱动器的建模与控制问题。提出了一种新的IPMC执行器的连续时域数学模型，该执行器是一个稳定的二阶动力学系统，其前面是一个非线性迟滞表示。基于所提出的模型，自适应控制器的IPMC执行器制定。所提出的自适应控制律保证了被控IPMC系统的全局稳定性，并且理论上可以保证IPMC执行器的位置误差收敛到零。实验结果验证了该模型的有效性以及该控制方法相对于传统比例-积分-微分控制的优越性。
This paper discusses the modeling and control of the ionic polymer-metal composite (IPMC) actuators which have many promising applications in biomechatronics. A novel mathematical model in continuous-time domain of the IPMC actuator, being a stable second-order dynamical system preceded by a nonlinear hysteresis representation, is proposed. An adaptive controller is formulated for the IPMC actuator based on the proposed model. The proposed adaptive control law ensures the global stability of the controlled IPMC system, and the position error of the IPMC actuator can be theoretically guaranteed to converge to zero. The effectiveness of the proposed model and the superiority of the proposed control to the traditional proportional-integral-derivative control are verified by experimental results.