Robust adaptive control with leakage modification for a nonlinear model of Ionic Polymer Metal Composites (IPMC)

  • Authors:

  • Hung M. La; Weihua Sheng

  • Affiliations:

  • School of Electrical and Computer Engineering, Oklahoma State University, Stillwater, 74078, USA;School of Electrical and Computer Engineering, Oklahoma State University, Stillwater, 74078, USA

  • Venue:
  • ROBIO '09 Proceedings of the 2008 IEEE International Conference on Robotics and Biomimetics
  • Year:
  • 2009

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Abstract

Ionic Polymer Metal Composites (IPMC) is a smart material used widely in many industrial and medical applications. In this paper, we propose a mathematical nonlinear model for the IPMC by adding the external random disturbances, then we apply the robust adaptive control method with leakage modification to control the position of this material to reduce the tracking error, the overshoot, and the steady state of the IPMC. In addition, a controller is designed to ensure that the IPMC's displacement response is stable and robust in the presence of different external random disturbances.