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

Abstract

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.

Keywords

• IPMC
• discrete-time adaptive control
• hysteresis
• Prandtl-Ishlinskii model