Feedforward control of an Ionic Polymer-Metal Composite actuator

Issue title: Selected Papers from the 14th International Symposium on Applied Electromagnetics and Mechanics (ISEM 2009), Part II

Article type: Research Article

Authors: Sasaki, Minoru^a | Onouchi, Yusuke^a | Ozeki, Tomohito^a | Tamagawa, Hirohisa^a | Ito, Satoshi^a

Affiliations: [a] Department of Human and Information Systems, Faculty of Engineering, Gifu University, 1-1 Yanagido, Gifu, Japan. Tel.: +81 58 293 2541; Fax: +81 58 293 2541; E-mail: {Sasaki,satoshi,tmgwhrhs}@gifu-u.ac.jp

Abstract: This paper presents methods of end point motion control of an Ionic Polymer-Metal Composite actuator. Feedforward control with the inverse system is used. Through frequency analysis of the IPMC, an inverse transfer function is formulated. Validity of the proposed control methods was verified with numerical simulations and experiments. The results show good control performance without disturbance. Feedforward control based on the low-pass inverse system worked quite effectively without disturbance. When subjected to external disturbance, the feedback control performance remains quite good.

Keywords: IPMC actuator, feed forward control, inverse system, feedback control, robustness

DOI: 10.3233/JAE-2010-1197

Journal: International Journal of Applied Electromagnetics and Mechanics, vol. 33, no. 3-4, pp. 875-881, 2010