Parametric Control of IPMC Actuator Modeled as Fractional Order System

Riccardo Caponetto; Salvatore Graziani; Fulvio Pappalardo; Maria Gabriella Xibilia

doi:10.4028/www.scientific.net/AST.79.63

Paper Titles

Chitosan/IPMC Artificial Muscles
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Properties of a Dielectric Elastomer Actuator Modified by Dispersion of Functionalised Carbon Nanotubes
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Adhesion between Polydimethylsiloxane Layers by Crosslinking
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PEDOT Based Conducting IPN Actuators: Effects of Electrolyte on Actuation
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Parametric Control of IPMC Actuator Modeled as Fractional Order System
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Actuation of Model Phalanges by Ion Polymer Metal Compound
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EAP-Actuators with Improved Actuation Capabilities for Construction Elements with Controllable Stiffness
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Functional Characterisations of Hybrid Nanocomposite Films Based on Polyaniline and Carbon Nanotubes
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Organic Robotics Based on Conducting Polymers
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HomeAdvances in Science and TechnologyAdvances in Science and Technology Vol. 79Parametric Control of IPMC Actuator Modeled as...

Parametric Control of IPMC Actuator Modeled as Fractional Order System

Abstract:

IPMC actuators suffer because of a large number of influencing factors that do not allow adequate open loop working conditions and they require the use of controlling strategies. IPMC controllers can be designed by using suitable device models. Here a non integer order transfer function is used to model IPMC actuators. In the present paper the IPMC model is scaled as a function of the actuator length and the control law has been parameterized according to this physical parameter