IPMC robust nonlinear tracking control design based on a multi-objective particle swarm optimization-based RRCF approach

In this paper, a robust nonlinear tracking control design for an ionic polymer metal composite (IPMC) is proposed by using a multi-objective particle swarm optimization-based robust right coprime factorization approach. Addressing the difficult in obtaining the PI control parameters (K_p, K_i) of the former proposed nonlinear robust tracking control system based on PI-based robust right coprime factorization approach, how to obtain the optimal control parameters (K_p, K_i) is investigated by using MATLAB system identification toolbox and multi-objective particle swarm optimization algorithm. That is, firstly, a new equivalent transfer function model of the robust stable control system of IPMC is identified. For the obtained transfer model, a multi-objective particle swarm algorithm optimization is used obtain the control parameters (K_p, K_i) of PI controller. Finally, the effectiveness of the proposed method system is confirmed by simulation results.