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Linear Modeling and Optimal Control of Bending in IPMC Actuators

[+] Author Affiliations
Majura Selekwa, Smriti Tripathi

North Dakota State University, Fargo, ND

Paper No. IMECE2012-89750, pp. 443-450; 8 pages
  • ASME 2012 International Mechanical Engineering Congress and Exposition
  • Volume 4: Dynamics, Control and Uncertainty, Parts A and B
  • Houston, Texas, USA, November 9–15, 2012
  • Conference Sponsors: ASME
  • ISBN: 978-0-7918-4520-2
  • Copyright © 2012 by ASME


Ionic Polymer Metal Composites (IPMC) have been widely studied for the possibility of acting as artificial muscles in both macro and micro positioning tasks. This paper presents a linear electromechanical model for a bending IPMC actuator and a simple algorithm for positioning control by such an actuator. The electromechanical is based on principles of continuum mechanics, electrodynamics and statistics. The model was validated experimentally on a 200μm nafion IPMC specimen. Since the resulting model was found to be linear, a simple linear optimal control algorithm is proposed for controlling the positioning action of the actuator. Simulation and experimental results have agreed well, showing that the proposed model is able capture the dynamics of the actuator, and can be used to positioning tasks as may be needed.

Copyright © 2012 by ASME



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