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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Adaptive Microtracking Control for an Underwater IPMC Actuator Using New Hyperplane-Based Sliding Mode
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Adaptive Microtracking Control for an Underwater IPMC Actuator Using New Hyperplane-Based Sliding Mode

机译：基于新的基于超平面的滑模的水下IPMC执行器的自适应微跟踪控制

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摘要

The ionic polymer metal composite (IPMC) actuator is one of the most promising smart actuators that possesses unique advantages and is suitable for underwater applications. However, there are challenges to employ it directly in such applications for precise tracking. The IPMC suffers from high nonlinearity due to the existence of inherent creep and hysteresis phenomena. Furthermore, the IPMC actuator is always subject to uncertainty and external disturbance due to the working environment. Therefore, to cope with the aforementioned restrictions and to make the IPMC applicable for real-life applications, designing a high-accuracy tracking control technique is an urgent demand. In this article, a new integral nonlinear hyperplane-based sliding mode controller is dedicated for an underwater IPMC actuator. The proposed controller employs an adaptive tuning law in the discontinuous part to overcome any prerequisite for knowing the upper bound of the model uncertainty and external disturbance. Extensive experiments have been carried out to verify practical effectiveness of the proposed controller in comparison with conventional nonsingular terminal sliding mode in terms of fast convergence, accurate tracking, and the robust performance.
机译：离子聚合物金属复合材料（IPMC）执行器是最有前途的智能执行器之一，它具有独特的优势，适用于水下应用。但是，直接在此类应用中进行精确跟踪存在挑战。由于存在固有的蠕变和磁滞现象，IPMC遭受高度的非线性影响。此外，由于工作环境的原因，IPMC执行器总是容易受到不确定性和外部干扰的影响。因此，为了克服上述限制并使IPMC适用于实际应用，迫切需要设计一种高精度的跟踪控制技术。在本文中，一种新型的基于整体非线性基于超平面的滑模控制器专用于水下IPMC执行器。所提出的控制器在不连续部分采用自适应调整律，以克服了解模型不确定性和外部干扰上限的任何先决条件。与传统的非奇异终端滑模相比，已经进行了广泛的实验以验证所提出的控制器在快速收敛，精确跟踪和鲁棒性能方面的实际有效性。

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