Discrete-Time Adaptive Control Design for Ionic Polymer-Metal Composite Actuators
نویسندگان
چکیده
منابع مشابه
Quasi-static Positioning of Ionic Polymer-Metal Composite (IPMC) Actuators
Ionic polymer-metal composites (IPMCs) generate large bending motions under a low driving voltage (about 1 V). In this paper quasi-static actuation of IPMC is investigated with the goal of precise positioning. It is found that IPMC exhibits hysteresis between its bending curvature and the applied quasi-static voltage. The Preisach operator is proposed to model the hysteresis, and its density fu...
متن کاملEfficiency of Swimming Microrobots Using Ionic Polymer Metal Composite Actuators
In this paper, we present a survey of sh-like propulsion at millimeter scale in order to build high eÆciency swimming microrobots. We begin with a mechanical study of the sh-like propulsion. The mechanical model we used shows that undulatory motions are more eÆcient than oscillatory motions. We applied these theoretical results to the design and the realization of a microrobot propelled by the ...
متن کاملAdaptive Control for Ionic Polymer-Metal Composite Actuator Based on Continuous-Time Approach
This paper discusses the model reference adaptive control problem for ionic polymer-metal composite (IPMC) actuators. Firstly, a mathematical model of the IPMC actuator is constructed as a stable second order dynamical system preceded by a hysteresis representation. Then, an adaptive controller is synthesized for the IPMC actuator. The proposed control law ensures the global stability of the co...
متن کاملModified L1 Adaptive Control Design for Satellite FMC Systems with Actuators Time Delay
A modified method for satellite attitude control system in presence of novel actuators is proposed in this paper. The attitude control system is composed of three fluidic momentum controller (FMC) actuators that are used to control Euler angles and their dynamics is considered in satellite attitude equations as well. L1 adaptive control is utilized for satellite three-axial ...
متن کاملInfluence of Temperature on the Electromechanical Properties of Ionic Liquid-Doped Ionic Polymer-Metal Composite Actuators
Ionic polymer-metal composite (IPMC) actuators have considerable potential for a wide range of applications. Although IPMC actuators are widely studied for their electromechanical properties, most studies have been conducted at the ambient conditions. The electromechanical performance of IPMC actuators at higher temperature is still far from understood. In this study, the effect of temperature ...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IEEE Access
سال: 2018
ISSN: 2169-3536
DOI: 10.1109/access.2018.2841514