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http://dx.doi.org/10.12989/sss.2017.20.1.001

SDRE controller considering Multi Observer applied to nonlinear IPMC model  

Bernat, Jakub (Faculty of Computing, Poznan University of Technology)
Kolota, Jakub (Faculty of Computing, Poznan University of Technology)
Stepien, Slawomir (Faculty of Computing, Poznan University of Technology)
Publication Information
Smart Structures and Systems / v.20, no.1, 2017 , pp. 1-10 More about this Journal
Abstract
Ionic Polymer Metal Composite (IPMC) is an electroactive polymer (EAP) and a promising candidate actuator for various potential applications mainly due to its flexible, low voltage/power requirements, small and compact design, and lack of moving parts. Although widely used in industry, this material requires accurate numerical models and knowledge of optimal control methods. This paper presents State-Dependent Riccati Equation (SDRE) approach as one of rapidly emerging methodologies for designing nonlinear controllers. Additionally, the present paper describes a novel method of Multi HGO Observer design. In the proposed design, the calculated position of the IPMC strip accurately tracks the target position, which is illustrated by the experiments. Numerical results and comparison with experimental data are presented and the effectiveness of the proposed control strategy is verified in experiments.
Keywords
IPMC; SDRE; EAP; High Gain Observer; Multi HGO Observer;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
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