A novel discrete adaptive sliding-mode-like control method for ionic polymer–metal composite manipulators
A novel discrete adaptive sliding-mode-like control method for ionic polymer–metal composite manipulators
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DOI：
10.1088/0964-1726/22/9/095027
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发表时间：
2013-09
影响因子：
4.1
通讯作者：
Zhiyong Sun;Lina Hao;Wenlin Chen;Zhi Li;Liqun Liu
中科院分区：
文献类型：
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作者：
Zhiyong Sun;Lina Hao;Wenlin Chen;Zhi Li;Liqun Liu
离子聚合物-金属复合材料（IPMC），也称为人工肌肉，是一种EAP材料，可以在低驱动电压（通常小于5 V）下产生较大的变形。与其他EAP材料一样，IPMC具有很强的非线性特性，可以被描述为背弛豫（BR）和滞后特性的混合，其也随含水量、环境温度甚至使用消耗而变化。目前，已有多种控制方法用于IPMC执行器的整定，其中自适应控制方法表现出了独特的性能。针对IPMC的非线性问题，提出了一种鲁棒离散自适应逆（AI）控制方法，该方法采用基于BR算子和Prandtl-Ishlinskii（PI）滞环算子混合模型估计的在线辨识技术。这里新形成的控制方法被称为离散自适应类滑模控制（DASMLC），由于其设计方法的滑模控制器的相似性。利用加权最小均方（WLMS）辨识方法对环境噪声不敏感的优点，对混合IPMC模型进行了辨识。与DASMLC方法和传统的PID控制器进行了实验比较，并证明所提出的控制器的更好的性能。
Ionic polymer–metal composite (IPMC), also called artificial muscle, is an EAP material which can generate a relatively large deformation with a low driving voltage (generally less than 5 V). Like other EAP materials, IPMC possesses strong nonlinear properties, which can be described as a hybrid of back-relaxation (BR) and hysteresis characteristics, which also vary with water content, environmental temperature and even the usage consumption. Nowadays, many control approaches have been developed to tune the IPMC actuators, among which adaptive methods show a particular striking performance. To deal with IPMCs’ nonlinear problem, this paper represents a robust discrete adaptive inverse (AI) control approach, which employs an on-line identification technique based on the BR operator and Prandtl–Ishlinskii (PI) hysteresis operator hybrid model estimation method. Here the newly formed control approach is called discrete adaptive sliding-mode-like control (DASMLC) due to the similarity of its design method to that of a sliding mode controller. The weighted least mean squares (WLMS) identification method was employed to estimate the hybrid IPMC model because of its advantage of insensitivity to environmental noise. Experiments with the DASMLC approach and a conventional PID controller were carried out to compare and demonstrate the proposed controller’s better performance.