Displacement control of integrated ionic polymer-metal composite actuator with stochastic ON/OFF controller

Adaptive Control for Ionic Polymer-Metal Composite Actuator Based on Continuous-Time Approach

This paper discusses the model reference adaptive control problem for ionic polymer-metal composite (IPMC) actuators. Firstly, a mathematical model of the IPMC actuator is constructed as a stable second order dynamical system preceded by a hysteresis representation. Then, an adaptive controller is synthesized for the IPMC actuator. The proposed control law ensures the global stability of the co...

Precision force and position control of ionic polymer–metal composite

In this paper, model-based precision force and position control of an ionic polymer metal composite (IPMC) is presented. A 23.8 mm×3.4 mm×0.16 mm IPMC strip was used as an actuator in a cantilever configuration. Open-loop force and position responses of an IPMC are not repeatable, and hence closed-loop precision control is of critical importance to ensure proper functioning, repeatability and r...

A novel fabrication of ionic polymer–metal composite membrane actuator capable of 3-dimensional kinematic motions

Ionic polymer–metal composites (IPMCs) are one type of wet electroactive polymers that show promising actuating properties in many bio-inspiring underwater robotic applications. In these applications, 3-dimensional kinematic motions are desirable to generate high efficient thrust and maneuverability. However, traditional IPMCs are limited in being only able to generate bending motion. In this p...

3D Modeling and Design Optimization of Rod Shaped Ionic Polymer Metal Composite Actuator

Model of a Self-Oscillating Ionic Polymer-Metal Composite Bending Actuator