Robust PID force control of IPMC actuators

Shigenori Sano; Kentaro Takagi; Susumu Sato; Suguru Hirayama; Naoki Uchiyama; Kinji Asaka

doi:10.1117/12.847842

9 April 2010 Robust PID force control of IPMC actuators

Shigenori Sano, Kentaro Takagi, Susumu Sato, Suguru Hirayama, Naoki Uchiyama, Kinji Asaka

Proceedings Volume 7642, Electroactive Polymer Actuators and Devices (EAPAD) 2010; 76421U (2010) https://doi.org/10.1117/12.847842
Event: SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring, 2010, San Diego, California, United States

Abstract

This paper discusses a simple robust PID (proportional, integral and derivative) tuning method for force control of ionic polymer-metal composite actuators. The model is represented by a transfer function which consists of an electrical part and an electro-mechanical part. The uncertainty is represented by an interval polynomial set of the closed-loop characteristic equations. Using Kharitonov's theorem, we show that just one Kharitonov polynomial stability is necessary and sufficient for satisfying the robust stability of the system. The PID gain is determined by pole placement of the derived Kharitonov polynomial. Experimental results show the effectiveness of the PID force control achieved by the proposed method.

Citation Download Citation

Shigenori Sano, Kentaro Takagi, Susumu Sato, Suguru Hirayama, Naoki Uchiyama, and Kinji Asaka "Robust PID force control of IPMC actuators", Proc. SPIE 7642, Electroactive Polymer Actuators and Devices (EAPAD) 2010, 76421U (9 April 2010); https://doi.org/10.1117/12.847842

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