作者：
Wang, Xiangjiang;Alici, Gursel*;Chuc Huu Nguyen
作者机构：
[Wang, Xiangjiang] Univ South China, Sch Mech Engn, Hengyang 421001, Peoples R China.;[Alici, Gursel] Univ Wollongong, Sch Mech Mat & Mechatron Engn, Wollongong, NSW 2522, Australia.
会议名称：
IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) - Mechatronics for Human Wellbeing
会议时间：
JUL 09-12, 2013
会议地点：
Wollongong, AUSTRALIA
会议主办单位：
[Wang, Xiangjiang] Univ South China, Sch Mech Engn, Hengyang 421001, Peoples R China.
会议论文集名称：
IEEE ASME International Conference on Advanced Intelligent Mechatronics
摘要：
Conducting polymer actuators which are capable of operating in air or liquid media under low actuation voltages can be used as macro and micromanipulation devices. However, their positioning accuracy is adversely affected by their hysteresis nonlinearity. In this paper, we establish a Duhem hysteresis model for conducting polymer actuators, which is a rate-independent hysteresis model. The hysteresis model is experimentally identified and integrated with the linear transfer function of the actuator to build a more accurate actuator model.
摘要：
In this paper, a Prandtl-Ishlinskii hysteresis model (PI) is used to build a rate-independent hysteresis model for a class of conducting polymer actuators typified by tri-layer conjugated polymer actuators. Firstly, an off-line method is proposed to identify a discretization density function for the hysteresis model, and then a linear transfer function for the actuator is identified using the PI inverse model. Secondly, a neural network approach is proposed to realize an adaptive on-line identification method for the density function of the PI hysteresis model. In the back propagation (BP) algorithm for the neural network, the discretization PI operator is considered as an operational function of the neural network and the density function is considered as the power value. Finally, the simulation and experimental results are presented to demonstrate the validity of the model identification method and the actuator model.
作者：
Wang, Xiangjiang*;Alici, Gursel;Chuc Huu Nguyen
期刊：
Smart Materials and Structures,2013年22(2):025004 ISSN：0964-1726
通讯作者：
Wang, Xiangjiang
作者机构：
[Wang, Xiangjiang] Univ S China, Sch Mech Engn, Hengyang 421001, Peoples R China.;[Chuc Huu Nguyen; Wang, Xiangjiang; Alici, Gursel] Univ Wollongong, Sch Mech Mat & Mechatron Engn, Wollongong, NSW 2522, Australia.;[Chuc Huu Nguyen; Alici, Gursel] Univ Wollongong, ARC Ctr Excellence Electromat Sci, Wollongong, NSW 2522, Australia.
通讯机构：
[Wang, Xiangjiang] U;Univ S China, Sch Mech Engn, Hengyang 421001, Peoples R China.
摘要：
This paper proposes an adaptive sliding mode control methodology to enhance the positioning ability of conducting polymer actuators typified by tri-layer conjugated polymer actuators. This is motivated by the search for an effective control strategy to command such actuators to a desired configuration in the presence of parametric uncertainties and unmodeled disturbances. After analyzing the stability of the adaptive sliding mode control system, experiments were conducted to demonstrate its satisfactory tracking ability, based on a series of experimental results. Implementation of the control law requires a valid model of the conducting polymer actuator and boundaries of the uncertainties and disturbances. Based on the theoretical and experimental results presented, the adaptive sliding mode control methodology is very attractive in the field of smart actuators which contain significant uncertainties and disturbances.
摘要：
The hysteresis nonlinearity reduces the accuracy of precision instrument.In order to mitigate the effect of the hysteresis, it is necessary to build hysteresis model and compensate hysteresis nonlinearity.The Krasnosel'skii- Pokrovkii (KP) operator is used to build hysteresis model, which the model is divided into linear part and nonlinear part. The KP compensating operator is proposed to compensate nonlinear part of hysteresis model. The Sliding model adaptive control law for the control method is deduced from the Lyapunov stability theorem. The emulational results confirmed the availability of hysteresis nonlinear compensation control.
作者机构：
[王湘江] School of Mechanical Engineering, University of South China, Hengyang 421001, China;[王兴松] College of Mechanical Engineering, Southeast University, Nanjing 211189, China
通讯机构：
School of Mechanical Engineering, University of South China, China
作者机构：
[王湘江; 毛燕; 王兴松] School of Mechanical Engineering, Southeast University, Nanjing 211189, China;[王湘江] College of Mechanical Engineering, University of South China, Hengyang 421001, China
通讯机构：
School of Mechanical Engineering, Southeast University, China
