XV Yang, WANG Xiang jiang, LIU Huai min

 

(School of Mechanical Engineering, University of South China, Hengyang 421001, China)

 

 

Abstract: Aiming at the problem of modeling and dynamic precision control of the conducting polymer actuator with multi layer, an experimental system was established for the adapitive sliding mode control, and its mathematical model make up of linear system transfer function with dynamic parameters, was built by identifying the parameters on line.The influence of the uncertainty and limited unmodeled dynamics of the actuator was compensated by adaptive sliding mode control,a sliding model control law was proposed to control the second order linear system model, and the control accuracy can be adjusted in the control law. The control system stability was proved by Lyapunov theory.The results indicate that the conducting polymer actuator is limited unmodeled dynamics, the tracking error of the output displacement of the actuator is within the 0.032mm, and the adaptive sliding mode control method can be stabled and effectively control the bending displacement of the conduction polymer actuator.

 

Key words: conducting polymer actuator; model identification; adaption; sliding mode control