Adaptive Microtracking Control for an Underwater IPMC Actuator Using New Hyperplane-Based Sliding Mode

Khawwaf, J; Zheng, J; Chai, R; Lu, R; Man, Z

Adaptive Microtracking Control for an Underwater IPMC Actuator Using New Hyperplane-Based Sliding Mode

Khawwaf, J Zheng, J

Chai, R

Lu, R Man, Z

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Publication Type:: Journal Article
Citation:: IEEE/ASME Transactions on Mechatronics, 2019, 24 (5), pp. 2108 - 2117
Issue Date:: 2019-10-01

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Field	Value	Language
dc.contributor.author	Khawwaf, J	en_US
dc.contributor.author	Zheng, J https://orcid.org/0000-0002-0550-9223	en_US
dc.contributor.author	Chai, R https://orcid.org/0000-0002-1922-7024	en_US
dc.contributor.author	Lu, R	en_US
dc.contributor.author	Man, Z	en_US
dc.date.issued	2019-10-01	en_US
dc.identifier.citation	IEEE/ASME Transactions on Mechatronics, 2019, 24 (5), pp. 2108 - 2117	en_US
dc.identifier.issn	1083-4435	en_US
dc.identifier.uri	http://hdl.handle.net/10453/137498
dc.description.abstract	© 2019 IEEE. 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.	en_US
dc.relation.ispartof	IEEE/ASME Transactions on Mechatronics	en_US
dc.relation.isbasedon	10.1109/TMECH.2019.2937328	en_US
dc.rights	info:eu-repo/semantics/closedAccess
dc.subject.classification	Industrial Engineering & Automation	en_US
dc.title	Adaptive Microtracking Control for an Underwater IPMC Actuator Using New Hyperplane-Based Sliding Mode	en_US
dc.type	Journal Article
utslib.citation.volume	5	en_US
utslib.citation.volume	24	en_US
utslib.for	0913 Mechanical Engineering	en_US
utslib.for	0906 Electrical and Electronic Engineering	en_US
utslib.for	0910 Manufacturing Engineering	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Biomedical Engineering
utslib.copyright.status	closed_access	*
pubs.issue	5	en_US
pubs.publication-status	Published	en_US
pubs.volume	24	en_US

Abstract:

© 2019 IEEE. 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.

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http://hdl.handle.net/10453/137498