| Budget Amount *help |
¥5,330,000 (Direct Cost: ¥4,100,000、Indirect Cost: ¥1,230,000)
Fiscal Year 2014: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Fiscal Year 2013: ¥2,340,000 (Direct Cost: ¥1,800,000、Indirect Cost: ¥540,000)
Fiscal Year 2012: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000)
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| Outline of Final Research Achievements |
This reserach presents the modeling and two-degree-of-freedom motion control of an Ionic Polymer-Metal Composite actuator with hysteresis compensation. It has been demonstrated that with correctly applied voltage, the hysteresis effect can be substantially reduced. However, there still remains the problem of control. The two-degree-of-freedom-control is a robust control technique that is effective for this actuator. The IPMC position control by the feedforward control employing inverse system and feedback control using a current sensing circuit was carried out. It consists of a feed-forward controller based on an inverse system and a stabilizing feedback controller. Both experimental and numerical results are presented and show the ef-fectiveness of both the control technique and the modeling method with the robustness.
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