Robust adaptive control with leakage modification for a nonlinear model of ionic polymer metal composites (IPMC)

2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008

Volumn , Issue , 2009, Pages 1783-1788

  La, Hung M ^a   Sheng, Weihua ^a  

^a Oklahoma State University   (United States)

Author keywords

IPMC; Leakage modification; Nonlinear model; Normalized estimation error; Normalizing signal

Indexed keywords

ADAPTIVE CONTROL SYSTEMS; BIOMIMETICS; FUNCTIONAL POLYMERS; MEDICAL APPLICATIONS; ORGANIC CONDUCTORS; ROBOTICS;

DISPLACEMENT RESPONSE; ESTIMATION ERRORS; IONIC POLYMER METAL COMPOSITES; IPMC; NON-LINEAR MODEL; NORMALIZING SIGNAL; RANDOM DISTURBANCES; ROBUST-ADAPTIVE CONTROL;

NONLINEAR SYSTEMS;

EID: 70349164663     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBIO.2009.4913272     Document Type: Conference Paper

References (38)

1. M. Shahinpoor and K. J. Kim. Ionic polymer-metal composites: I. Fundamentals. Smart Materials and Structures, 10:819-833, 2001.
2. K. J. Kim and M. Shahinpoor. Ionic polymer-metal composites: II. Manufacturing techniques. Smart Material and Structures, 12:65-79, 2003.
3. S. Nemat-Nasser and J. Li. Electromechanical response of ionic polymer metal composites. Journal of Applied Physics, 87(7):3321- 3331, 2000.
4. J. K. Kim and M. Shahinpoor. A novel method of manufacturing threedimensional ionic polymer-metal composites (IPMCS) biomimetic sensors, actuators and artificial muscles. Polymer, 43(3):797-802, 2002.
5. M. Shahinpoor. Conceptual design, kinematics and dynamics of swimming robotic structures using ionic polymeric gel muscles. Smart Material and Structures, 1(1):91-94, May, 1992.
6. Y. Nakabo, T. Mukai, and Asaka. Propulsion model of snake-like swimming artificial muscles. Proceedings of IEEE International Conference on Robotics and Biomimetics, June 29-July 03, 2005.
7. M. Shahinpoor and K. J. Kim. Ionic polymer-metal composites: IV. Industrial and medical applications. Smart Material and Structures, 14:197-214, 2005.
8. M. Mojarrad and M. Shahinpoor. Biomimetic robot propulsion using polymeric artificial muscles. Proceedings of the IEEE Conference on Robotics and Automation, pages 2152-2157, 1997.
9. S. Guo, T. Fukuda, , and K. Asaka. A new type of fish-like underwater microrobot. IEEE/ASME Transactions on Mechatronics, 8(1):136-141, 2003.
10. B. Kim, D.-H. Kim, J. Jung, and J.-O. Park. A biomimetic undulatory tadpole robot using ionic polymer-metal composite actuators. Smart Materials and Structures, 14:1579-1585, 2005.
11. G. Laurent and E. Piat. Efficiency of swimming microrobots using ionic polymer metal composite actuators. Proceedings of the IEEE Conference on Robotics and Automation, pages 3914-3919, 2001.
12. M. Otis, R. Bernier, Y. Pasco, and et al. Development of an hexapod biomicrorobot with Nafion-Pt IPMC microlegs. Proceedings of the 25th Annual International Conference of the IEEE EMBS, Sep 17-21, 2003.
13. X. Tan, D. Kim, and et al. An autonomous robotic fish for mobile sensing. Proceedings of the 2006 IEEE/RSF, International Conference on Intelligent and System, pages 5424-5429, October 9-15, 2006.
14. S. G. Lee, H. C. Park, S. D. Pandita, and Y. Yoo. Performance improvement of IPMC (ionic polymer metal composites) for flapping actuator. International Journal of Control, Automation, and Systems, 4:748-755, December, 2006.
15. S. Nemat-Nasser and C. Thomas. Ionic polymer-metal composite (IPMC) in Electroactive Polymer (EAP) Actuators as Artificial Muscles-Reality, Potential and Challenges, Y. Bar-Cohen, Ed. Bellingham, WA:. SPIE, pages 139-191, 2001.
16. N. Bhat and W. J. Kim. Modeling and precision control of ionic polymer metal composites. Master's thesis, Master's Thesis, Texsas A & M University, August, 2003.
17. http://www.acuitylaser.com/AR200/index.shtml.
18. C. Bonomo, L. Fortuna, P. Giannone, S. Graziani, and D. Mazza. A circuit to model an ionic polymer metal composite as actuator. IEEE ISCAS, pages 864-867, 2004.
19. C. Bonomo, L. Fortuna, P. Giannone, S. Graziani, and D. Mazza. A model for ionic polymer metal composites as sensors. Smart Materials and Structures, 15:749-758, 2006.
20. N. Bhat and W. J. Kim. Precision force and position control of an ionic polymer metal composite. Proc. Instn Mech. Engrs, Part I: J. Systems and Control Engineering, 218(I6):421-432, September, 2004.
21. K. Yun and W. J. Kim. System identification and microposition control of ionic polymer metal composite for three finger gripper manipulation. Pro. IMechE, JSCE215, 220:539-551, 2006.
22. R. C. Richardson, M. C. Levesley, M. D. Brown, J. A. Hawkes, K. Watterson, and P. G. Walker. Control of ionic polymer metal composites. IEEE/ASME Trans. on mechatronics, 8(2):245-253, June 2003.
23. N. Bhat and W. J. Kim. Precision position control of ionic polymer metal composite. Proceedings of the 2004 American Control Conference, June 30-July 2, 2004.
24. B. C. Lavu, M. P. Schoen, and A. Mahajan. A genetic algorithm approach for model reference adaptive control of ionic polymer-metal composites. Proceedings of the 2004 American Control Conference, Jun 30-July 2, 2004.
25. H. Khadivi, B. S. Aghazadeh, and C. Lucas. Fuzzy control of ionic polymer metal composites. Proceedings of the 29th Annual International Conferenc of the IEEE EMBS, August 23-26, 2007.
26. K. Mallavarapu, K. M. Newbury, and D. J. Leo. Feedback control of the bending response of ionic polymer-metal composite actuators. Proc. SPIE Conf. Electroactive Polymer Actuators and Devices, 5- 8:301-310, March, 2001.
27. B. C. Lavu, M. P. Schoen, and A. Mahajan. Adaptive intelligent control of ionic polymer-metal composites. Smart Material and Structures, 14:466-474, 2005.
28. D. Kim and K. J. Kim. Experimental investigation on electrochemical properties of ionic polymer metal composite. Journal of Intelligent Material Systems and Structures, 17, May, 2006.
29. C. Bonomo, L. Fortuna, P. Giannone, S. Graziani, and D. Mazza. A nonlinear model for ionic polymer metal composites as actuators. Smart Materials and Structures, 16:1-12, 2007.
30. M. Shahinpoor and K. J. Kim. Ionic polymer-metal composites: III. Modeling and simulation as biomimetic sensors, actuators, transducers, and artificial muscles. Smart Material and Structures, 13:1362-1388, 2004.
31. X. Bao, Y. Bar-Cohen, and S. Lih. Measurements and macro models of ionomeric polymer-metal composites (ipmc). Proc.of the SPIE Smart Structures and Materials Symposium, EAPAD Conference, March 18- 21, 2002.
32. P. J. Branco and J. A. Dente. Derivation of a continuum model and its electric equivalent-circuit representation for ionic polymer-metal composite (IPMC) electromechanics. Smart Material and Structures, 15:378-392, 2006.
33. Y. Kaneda, N. Kamamichi, M. Yamakita, K. Asaka, and Z. W. Luo. Control of linear artificial muscle actuator using ipmc. Proc. SICE Annual Conf, pages 1650-1655, August 4-6, 2003.
34. P. A. Ioannou and J. Sun. Robust Adaptive Control. Prentice Hall, 1996.
35. K. Yun and W. J. Kim. Microscale position control an electroactive polymer using an anti-windup scheme. Smart Material and Structures, 15:924-930, 2006.
36. Z.Chen and Z. Tan. A control-oriented, physics-based model for ionic polymer-metal composite actuators. Proceedings of the 46th IEEE conference on decision and control, pages 590-595, 2007.
37. Y. Fang and X. Tan. Robust adaptive control of conjugated polymer actuators. IEEE transactions on control systems technology, 16(4):600- 612, 2008.
38. R. Y. Ruan, C. L. Yang, Z. M. Wang, and Y. Z. Li. Robust adaptive output feedback-control for a class of nonlinear systems with general uncertainties. International Journal of System Science, 37(4):207-224, March 15, 2006.