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A Study on the Control of an IPMC Actuator Using an Adaptive Fuzzy Algorithm  

Oh, Sin-Jong (School of Mechanical Engineering, Sungkyunkwan University)
Kim, Hunmo (School of Mechanical Engineering, Sungkyunkwan University)
Publication Information
Journal of Mechanical Science and Technology / v.18, no.1, 2004 , pp. 1-11 More about this Journal
Abstract
The ionic Polymer Metal Composite (IPMC) is one of the electroactive polymers (EAP) that was shown to have potential application as an actuator It bends by applying a low voltage current (1∼3 V) to its surfaces when containing water In this paper, the basic characteristics and the static ＆ dynamic modeling of IPMC is discussed. In modeling and analysis, the equations of motion, which describe the total dynamics of the system, are driven. To control the position of the IPMC actuator, an adaptive fuzzy algorithm is used. IPMC is a time varying system because the some parameters vary with the passage of time. In this paper, the modeling and control of IPMC is introduced.
Keywords
IPMC; EAP; Adaptive Fuzzy Algorithm; FMRLC;
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