Modeling IPMC Actuators for Model Reference Motion Control

Ionic polymer-metal composites (IPMCs) produce large bending motions under a low driving voltage and can be used in underwater applications. In this work, the control of ionic polymer metal composite actuators is investigated from a practical perspective. The control of IPMC is important in many processes and applications including underwater applications. This work develops an approach for model reference control of IPMCs. The main idea is to settle the behavior of IPMC adjustable from reference model. This strategy is demonstrated on an experimental rig using real time control. Experimental results confirm that a reference control of the IPMC is achievable.