Operator-based robust nonlinear control for an ionic-polymer metal composite with hysteretic properties compensation

In this paper, an operator based robust nonlinear control design for an ionic-polymer metal composite (IPMC) with uncertain non-symmetric hysteretic properties compensation is proposed. That is, first, a model of nonlinear hysteresis by using non-symmetric Prandtl-Ishlinskii (PI) model is defined for the nonlinear IPMC. Second, the operator based robust nonlinear control design for IPMC with uncertain non-symmetric hysteretic properties compensation is designed, the robust stability of the presenting control system is discussed, and the desired performance of tracking is realized. Finally, the effectiveness of the proposed control scheme is confirmed by simulation and experimental results.