Two-Degree-of-Freedom Control of an Ionic Polymer-Metal Composite Actuator
Mathematical models predicting the behaviour of IMPCs (Ionic Polymer-Metal Composites ) were built and their validity was verified computationally as well as experimentally. A transfer function associating the applied input voltage with the IPMC tip displacement was derived based on results obtained by vibration analysis. Employing the derived transfer function, three mathematical models, based on feed forward, feedback and two-degree-of-freedom models, were formulated. Computational and experimental verification of these models revealed that the feedback and two-degree-of-freedom models were capable of high performance in controlling the bending of an IPMC.
A.G. Mamalis, M. Enokizono and A. Kladas
M. Sasaki et al., "Two-Degree-of-Freedom Control of an Ionic Polymer-Metal Composite Actuator", Materials Science Forum, Vol. 670, pp. 369-378, 2011