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Proceedings Paper

Robust PID force control of IPMC actuators
Author(s): Shigenori Sano; Kentaro Takagi; Susumu Sato; Suguru Hirayama; Naoki Uchiyama; Kinji Asaka
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Paper Abstract

This paper discusses a simple robust PID (proportional, integral and derivative) tuning method for force control of ionic polymer-metal composite actuators. The model is represented by a transfer function which consists of an electrical part and an electro-mechanical part. The uncertainty is represented by an interval polynomial set of the closed-loop characteristic equations. Using Kharitonov's theorem, we show that just one Kharitonov polynomial stability is necessary and sufficient for satisfying the robust stability of the system. The PID gain is determined by pole placement of the derived Kharitonov polynomial. Experimental results show the effectiveness of the PID force control achieved by the proposed method.

Paper Details

Date Published: 9 April 2010
PDF: 10 pages
Proc. SPIE 7642, Electroactive Polymer Actuators and Devices (EAPAD) 2010, 76421U (9 April 2010); doi: 10.1117/12.847842
Show Author Affiliations
Shigenori Sano, Toyohashi Univ. of Technology (Japan)
Kentaro Takagi, Nagoya Univ. (Japan)
RIKEN (Japan)
Susumu Sato, Toyohashi Univ. of Technology (Japan)
Suguru Hirayama, Toyohashi Univ. of Technology (Japan)
Naoki Uchiyama, Toyohashi Univ. of Technology (Japan)
Kinji Asaka, AIST (Japan)


Published in SPIE Proceedings Vol. 7642:
Electroactive Polymer Actuators and Devices (EAPAD) 2010
Yoseph Bar-Cohen, Editor(s)

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