Hysteresis modeling for IPMC actuators with rate-dependent Preisach model

Ionic polymer-metal composites(IPMCs) is a class of new smart materials, which can generate large bending motions under a low driving voltage, and this property of IPMCs can be used as artificial muscle driving devices without the traditional components. However, one strong non-smooth nonlinearity, hysteresis, exists between its bending curvature and the applied input voltage. The hysteresis curve is altered with the change of the input voltage rate, which causes the hysteresis in IPMCs with rate-dependent characteristics. In this paper, one modified Preisach hysteresis model is proposed to describe the rate-dependent hysteresis in IPMCs. In order to identify the effectiveness of the proposed modeling method, the comparison results between the experiment measured output and the computing output are given in this paper.