Project 3: Robust Adaptive Control for a Nonlinear Model of Ionic Polymer Metal Composites (IPMC)

(supported by the Vietnamese Ministry Of Education and Training: MOET)

Authors: Hung M. La and Weihua Sheng

Ionic Polymer Metal Composites (IPMC) is a smart material used widely in many industrial and medical applications. In this project, we propose a mathematical nonlinear model for the IPMC by adding the external random disturbances, then we apply the robust adaptive control method with leakage modification to control the position of this material to reduce the tracking error, the overshoot, and the steady state of the IPMC.

In addition, a controller is designed to ensure that the IPMC’s
displacement response is stable and robust in the presence of different external random disturbances.

Publications of this project:

  • Hung M. La and Weihua Sheng, Robust adaptive control with leakage modification for a nonlinear model of Ionic Polymer Metal Composites (IPMC), in the proceedings of the IEEE International Conference on Robotics and Biomimetics (ROBIO), December 14 – 17, 2008, Bangkok, Thailand.

 

Picture1

This picture shows the setup pf an Acuity sensor and IPMC. For more details please see the published paper “Robust adaptive control with leakage modification for a nonlinear model of Ionic Polymer Metal Composites (IPMC)“, ROBIO 2009.

 

IPMC

The structure of IPMC.