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Position control of ionic polymer metal composite actuator using quantitative feedback theory
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Ahn, Kyoung Kwan, Truong, Dinh Quang, Nam, Doan Ngoc Chi, Yoon, Jong Il and Yokota, Shinichi (2010) Position control of ionic polymer metal composite actuator using quantitative feedback theory. Sensors and Actuators A: Physical, 159 (2). pp. 204-212. doi:10.1016/j.sna.2010.03.007 ISSN 0924-4247.
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Official URL: http://dx.doi.org/10.1016/j.sna.2010.03.007
Abstract
An ionic polymer metal composite (IPMC) is an electro-active polymer (EAP) that bends in response to a small applied electrical field as a result of mobility of cations in the polymer network and vice versa. Recently, IPMC is widely applied in many fields such as biometric, biomedical and micro-manipulator fields. This paper proposes a robust position controller for IPMCs which is based on the quantitative feedback theory (QFT). Firstly, the IPMC actuation was investigated. The PRBS input voltage signals were applied to the IPMC in order to identify the system characteristic. Consequently, the QFT controller for the IPMC was designed from the identified IPMC model. Experiments were carried out to validate the effectiveness of proposed controller applied to the IPMC.
Item Type: | Journal Article | ||||||||||
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Divisions: | Faculty of Science, Engineering and Medicine > Engineering > WMG (Formerly the Warwick Manufacturing Group) | ||||||||||
Journal or Publication Title: | Sensors and Actuators A: Physical | ||||||||||
Publisher: | Elsevier Science BV | ||||||||||
ISSN: | 0924-4247 | ||||||||||
Official Date: | May 2010 | ||||||||||
Dates: |
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Volume: | 159 | ||||||||||
Number: | 2 | ||||||||||
Page Range: | pp. 204-212 | ||||||||||
DOI: | 10.1016/j.sna.2010.03.007 | ||||||||||
Status: | Peer Reviewed | ||||||||||
Publication Status: | Published | ||||||||||
Access rights to Published version: | Restricted or Subscription Access | ||||||||||
Adapted As: |
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