Operator-based modeling for nonlinear ionic polymer metal composite with uncertainties

Mingcong Deng, Aihui Wang, Mamoru Minami, Akira Yanou

Research output: Contribution to conferencePaper

1 Citation (Scopus)

Abstract

The ionic polymer metal composite (IPMC) is a novel smart polymer material, many potential application for low-mass high-displacement actuators in biomedical and robotic systems have been shown. Although several nonlinear models have been proposed in precision displacement control, none has finally been adopted absolutely for identification of some physical parameters is still difficult. In this paper, for a IPMC, some physical parameters are small enough for influence of displacement deformation, which are considered as uncertainties of model. To avoid the influence of the unknown uncertainties, an improved operator-based nonlinear model with uncertainties is proposed. To confirm the effectiveness of the proposed model, an operator-based nonlinear control for the IPMC setup is designed. The effectiveness of the proposed model is confirmed by simulation results of the operator-based nonlinear robust control system and experimental results of a IPMC setup.

Original languageEnglish
Pages1110-1115
Number of pages6
Publication statusPublished - Dec 1 2010
EventJoint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems, SCIS and ISIS 2010 - Okayama, Japan
Duration: Dec 8 2010Dec 12 2010

Other

OtherJoint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems, SCIS and ISIS 2010
CountryJapan
CityOkayama
Period12/8/1012/12/10

ASJC Scopus subject areas

  • Artificial Intelligence
  • Information Systems

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  • Cite this

    Deng, M., Wang, A., Minami, M., & Yanou, A. (2010). Operator-based modeling for nonlinear ionic polymer metal composite with uncertainties. 1110-1115. Paper presented at Joint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems, SCIS and ISIS 2010, Okayama, Japan.