期刊
IEEE-ASME TRANSACTIONS ON MECHATRONICS
卷 13, 期 5, 页码 519-529出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2008.920021
关键词
Electroactive polymers; ionic polymer-metal composite (IPMC) actuators; model-based control design; physics-based model
类别
资金
- National Science Foundation (NSF) [ECCS 0547131]
- Michigan State University (MSU)
- Intramural Research Grant Program (IRGP) [05-IRGP-418]
Ionic polymer-metal composite (IPMC) actuators have promising applications in biomimetic robotics, biomedical devices, and micro/nanomanipulation. In this paper, a physics-based model is developed for IPMC actuators, which is amenable to model reduction and control design. The model is represented as an infinite-dimensional transfer function relating the bending displacement to the applied voltage. It is obtained by exactly solving the governing partial differential equation in the Laplace domain for the actuation dynamics, where the effect of the distributed surface resistance is incorporated. The model is expressed in terms of fundamental material parameters and actuator dimensions, and is thus, geometrically scalable. To illustrate the utility of the model in controller design, an H. controller is designed based on the reduced model and applied to tracking control. Experimental results are presented to validate the proposed model and its effectiveness in real-time control design.
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