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Position Tracking Control Design for IPMC Based on Sliding Mode Variable Structure
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[1]WANG Aihui,ZHANG Qiang,WANG Dongyun,et al.Position Tracking Control Design for IPMC Based on Sliding Mode Variable Structure[J].Journal of Zhengzhou University (Engineering Science),2014,35(06):104-107.[doi:10.3969/i.issn.1671 -6833.2014.06.025]
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Journal of Zhengzhou University (Engineering Science)[ISSN 1671-6833/CN 41-1339/T] Volume: 35 Number of periods: 2014 06 Page number: 104-107 Column: Public date: 2014-11-25
Title:
Position Tracking Control Design for IPMC Based on Sliding Mode Variable Structure
Author(s):
WANG Aihui; ZHANG Qiang; WANG Dongyun; etc;
Department of Electronie and information, Zhongyuan University of Technology, Zhengzhou 451191, China
Keywords:
lPMC;  uncertainies;  sliding mode variable struelure;  neural nelwork;  nonlinear position control: robust stability
CLC:
TP273
DOI:
10.3969/i.issn.1671 -6833.2014.06.025
Abstract:
To get belter used for the lPNC in biomedical and robolie systems, the position that we expeet mustbe controlled precisely. Against strong nonlinear properties and model uneerlainties,as a result, an lPMC ari.ficial museles position traeking eontrol system based on sliding mode variable strueture control and Pl controlapproach is proposed. First, the robust stability is achieved by sliding mode control, furthermore, slidingmode variable structure control and Pl control approach which are used to traee the position, finally, the pa.rameters of traeking eontroller are designed by using neural nelwork. The designed system not only can achieveposition tracking, but also guarantee stability in the presenee of elfeet of uneertainlies and exteral perturba.tion, the elfeetiveness of the proposed method is confirmed by simulalion results.
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