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 language | English |
|---|---|
| Title of host publication | SCIS and ISIS 2010 - Joint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems |
| Pages | 1110-1115 |
| Number of pages | 6 |
| Publication status | Published - 2010 |
| Event | Joint 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 2010 → Dec 12 2010 |
Other
| Other | Joint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems, SCIS and ISIS 2010 |
|---|---|
| Country | Japan |
| City | Okayama |
| Period | 12/8/10 → 12/12/10 |
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ASJC Scopus subject areas
- Artificial Intelligence
- Information Systems
Cite this
Operator-based modeling for nonlinear ionic polymer metal composite with uncertainties. / Deng, Mingcong; Wang, Aihui; Minami, Mamoru; Yanou, Akira.
SCIS and ISIS 2010 - Joint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems. 2010. p. 1110-1115.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Operator-based modeling for nonlinear ionic polymer metal composite with uncertainties
AU - Deng, Mingcong
AU - Wang, Aihui
AU - Minami, Mamoru
AU - Yanou, Akira
PY - 2010
Y1 - 2010
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84866713763&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84866713763&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:84866713763
SP - 1110
EP - 1115
BT - SCIS and ISIS 2010 - Joint 5th International Conference on Soft Computing and Intelligent Systems and 11th International Symposium on Advanced Intelligent Systems
ER -