Robust nonlinear control design for ionic polymer metal composite based on sliding mode approach

2014 ◽  
Author(s):  
Dongyun Wang ◽  
Qiang Zhang ◽  
Aihui Wang
Keyword(s):  
Nonlinear Control ◽  
Sliding Mode ◽  
Control Design ◽  
Metal Composite ◽  
Ionic Polymer Metal Composite ◽  
Robust Nonlinear Control ◽  
Ionic Polymer ◽  
Polymer Metal

Robust super-twisting sliding mode controller with state observer for position tracking of ionic polymer–metal composite actuators

2020 ◽  
Vol 31 (9) ◽  
pp. 1193-1203 ◽  
Author(s):  
Mohammad Reza Salehi Kolahi ◽  
Hossein Moeinkhah
Keyword(s):  
Sliding Mode ◽  
State Observer ◽  
Unmodeled Dynamics ◽  
Position Tracking ◽  
Sliding Mode Controller ◽  
Metal Composite ◽  
Ionic Polymer Metal Composite ◽  
Ionic Polymer ◽  
Highly Nonlinear ◽  
Polymer Metal

To date, a novel class of smart materials, known as ionic polymer–metal composites, have been intensively studied because of their huge potential applications in robotics, microelectromechanical systems, biomedical devices, and artificial muscles. The position tracking control of the ionic polymer–metal composite actuators is one of the challenging tasks due to the highly nonlinear, uncertain, and unmodeled dynamics. These inaccurate and unmodeled dynamics cause the unwanted disturbances which reduce the control performance. Therefore, a robust feedback controller for position tracking of the ionic polymer–metal composite actuators is necessary. To address this issue, this article presents a super-twisting sliding mode controller combined with integral-chain differentiator as state observer. The main advantage of the proposed method is its potential to estimate the states of the system continuously. As a result, the controller not only eliminates the parameter uncertainties and external disturbance but also it can overcome the chattering problem. The results confirm the feasibility and efficiency of the proposed method both in simulation and experiment.

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