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Operator based Robust Nonlinear Control Design to an Ionic Polymer Metal Composite with Uncertainties and Input Constraints |
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PP: 2471-2477 |
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Author(s) |
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Aihui Wang,
Gong Wei,
Hui Wang,
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Abstract |
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| In this paper, robust nonlinear control design to an ionic polymer metal composite (IPMC) with uncertainties and input
constraints is studied. The IPMC is a novel smart polymer material, and many potential applications for low mass high displacement
actuators in biomedical and robotic systems have been shown. In general, the IPMC has highly nonlinear property, and the control
input is subject to some constraints to ensure safety and longer service life of IPMC. Moreover, there exist uncertainties caused by
identifying some physical parameters and approximate calculation in dynamic model. As a result, considering measurement error of
parameters and model error, a practical nonlinear model is obtained, and a nonlinear robust control design with uncertainties and input
constraints using operator-based robust right coprime factorization is proposed. The effectiveness of the proposed control method based
on obtained nonlinear model is confirmed by simulation and experimental results. |
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