Robust nonlinear control design for an IPMC by using ABC-based operator approach

In this paper, a robust nonlinear control design for ionic polymer metal composite (IPMC) with uncertainties is proposed by using artificial bee colony based-operator approach. In detail, first, for a nonlinear IPMC dynamic model with uncertainties, a robust control system based on operator based robust right coprime factorization (RRCF) approach is presented. Second, considering the unknown uncertain plant that generates limitations in obtaining so-called universal condition, a proportional integral (PI) controller is designed to realize tracking control for the proposed robust stable system. Moreover, an artificial bee colony (ABC) algorithm is used to obtain on line the control parameters (K_p, K_i) of PI controller. Finally, the effectiveness of the proposed control system is confirmed by simulation results.