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Proceedings Paper

Intelligent control of an IPMC actuated manipulator using emotional learning-based controller
Author(s): Azadeh Shariati; Ali Meghdari; Parham Shariati
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Paper 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.

Paper Details

Date Published: 4 September 2008
PDF: 11 pages
Proc. SPIE 7029, Metamaterials: Fundamentals and Applications, 70291J (4 September 2008); doi: 10.1117/12.794375
Show Author Affiliations
Azadeh Shariati, Sharif Univ. of Technology (Iran, Islamic Republic of)
Ali Meghdari, Sharif Univ. of Technology (Iran, Islamic Republic of)
Parham Shariati, Sharif Univ. of Technology (Iran, Islamic Republic of)

Published in SPIE Proceedings Vol. 7029:
Metamaterials: Fundamentals and Applications
Mikhail A. Noginov; Nikolay I. Zheludev; Allan D. Boardman; Nader Engheta, Editor(s)

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