Proceedings Paper
Robust PID force control of IPMC actuators| Format | Member Price | Non-Member Price |
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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
Published in SPIE Proceedings Vol. 7642:
Electroactive Polymer Actuators and Devices (EAPAD) 2010
Yoseph Bar-Cohen, Editor(s)
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)
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)
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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