Intelligent control of an IPMC actuated manipulator using emotional learning-based controller

Azadeh Shariati; Ali Meghdari; Parham Shariati

doi:10.1117/12.794375

4 September 2008 Intelligent control of an IPMC actuated manipulator using emotional learning-based controller

Azadeh Shariati, Ali Meghdari, Parham Shariati

Proceedings Volume 7029, Metamaterials: Fundamentals and Applications; 70291J (2008) https://doi.org/10.1117/12.794375
Event: NanoScience + Engineering, 2008, San Diego, California, United States

Abstract

In this research an intelligent emotional learning controller, Takagi- Sugeno- Kang (TSK) is applied to govern the dynamics of a novel Ionic-Polymer Metal Composite (IPMC) actuated manipulator. Ionic-Polymer Metal Composites are active actuators that show very large deformation in existence of low applied voltage. In this research, a new IPMC actuator is considered and applied to a 2-dof miniature manipulator. This manipulator is designed for miniature tasks. The control system consists of a set of neurofuzzy controller whose parameters are adapted according to the emotional learning rules, and a critic with task to assess the present situation resulted from the applied control action in terms of satisfactory achievement of the control goals and provides the emotional signal (the stress). The controller modifies its characteristics so that the critic's stress decreased.

Citation Download Citation

Azadeh Shariati, Ali Meghdari, and Parham Shariati "Intelligent control of an IPMC actuated manipulator using emotional learning-based controller", Proc. SPIE 7029, Metamaterials: Fundamentals and Applications, 70291J (4 September 2008); https://doi.org/10.1117/12.794375

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