http://iet.metastore.ingenta.com
1887

Robust non-linear control design to an ionic polymer metal composite with hysteresis using operator-based approach

Robust non-linear control design to an ionic polymer metal composite with hysteresis using operator-based approach

For access to this article, please select a purchase option:

Buy article PDF
$19.95
(plus tax if applicable)
Buy Knowledge Pack
10 articles for $120.00
(plus taxes if applicable)

IET members benefit from discounts to all IET publications and free access to E&T Magazine. If you are an IET member, log in to your account and the discounts will automatically be applied.

Learn more about IET membership 

Recommend Title Publication to library

You must fill out fields marked with: *

Librarian details
Name:*
Email:*
Your details
Name:*
Email:*
Department:*
Why are you recommending this title?
Select reason:
 
 
 
 
 
IET Control Theory & Applications — Recommend this title to your library

Thank you

Your recommendation has been sent to your librarian.

In this article, robust non-linear control design to an ionic polymer metal composite (IPMC) with hysteresis, uncertainties and input constraints is studied. The IPMC is a novel smart polymer material, and many potential applications for low mass high displacement actuators in biomedical and robotic systems have been shown. In general, the IPMC has highly non-linear property and hysteretic behaviour, and the control input is subject to some constraints to ensure safety and longer service life of IPMC. Moreover, there exist uncertainties caused by identifying some physical parameters and approximate calculation in dynamic model. As a result, considering measurement error of parameters and model error, a practical non-linear model is obtained, and a non-linear robust control design with hysteresis, uncertainties and input constraints using operator-based robust right coprime factorisation is proposed for an IPMC setup, where, the Prandtl–Ishlinskii (PI) model is used to describe the hysteresis, and which is identified using experimental data. The effectiveness of the proposed control method based on obtained non-linear model is confirmed by simulation and experimental results.

References

    1. 1)
    2. 2)
    3. 3)
    4. 4)
    5. 5)
      • S. Oh , H. Kim . A study on the control of an IPMC actuator using an adaptive fuzzy algorithm. KSME Int. J. , 1 , 1 - 11
    6. 6)
      • Bhat, N., Kim, W.: `Precision position control of ionic polymer metal composite', Proc. Conf. 2004 American Control, 2004, p. 740–745.
    7. 7)
    8. 8)
      • Deng, M., Inoue, A., Ishikawa, K.: `Tracking of perturbed nonlinear plants using robust right coprime factorization approach', Proc. Conf. 2004 American Control, 2004, p. 3666–3670.
    9. 9)
      • R.J.P. de Figueiredo , G. Chen . (1993) Nonlinear feedback control system: an operator theory approach.
    10. 10)
    11. 11)
      • S. Saito , M. Deng , A. Inoue , C. Jiang . Vibration control of a flexible arm experimental system with hysteresis of piezoelectric actuator. Int. J. Innovative Comput. Inf. Control , 7 , 2965 - 2975
    12. 12)
      • M. Brokate , J. Sprekels . (1996) Hysteresis and phase transitions.
    13. 13)
    14. 14)
    15. 15)
    16. 16)
    17. 17)
    18. 18)
    19. 19)
      • M. Deng , A. Inoue , K. Edahiro . Fault detection in a thermal process control system with input constraints using a robust right coprime factorization approach. Proc. IMechE, I , 819 - 831
http://iet.metastore.ingenta.com/content/journals/10.1049/iet-cta.2011.0534
Loading

Related content

content/journals/10.1049/iet-cta.2011.0534
pub_keyword,iet_inspecKeyword,pub_concept
6
6
Loading
This is a required field
Please enter a valid email address