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1 August 2003 System identification and control of ionic polymer metal composite
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In this paper, we present the development of an empirical force model and the feedback control of the force produced by Ionic Polymer Metal Composite (IPMC). IPMC shows great potential as a low-mass, high-displacement actuator. The high-precision force generation capability of IPMC at low force level makes it ideal for the microdevice applications such as microgrippers. Thus, modeling of the force generated by IPMC is of critical importance along with its control. Force models previously developed are based on the electrochemical and electromechanical phenomena. Most of these models consisted of partial differential equations representing each phenomenon, so it is difficult to develop a force controller on the basis of these models. This paper presents a force model developed for an IPMC strip by system identification and the feedback control of the force produced by the IPMC strip. After the implementation of the controller, the settling time is reduced to 1.5 s from 10 s in open loop, and the overshoot is reduced to 30% from 125% in open loop. The crossover frequency is 1.3 Hz limited by the structural resonance of the polymer strip.
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Nikhil Bhat and Won-jong Kim "System identification and control of ionic polymer metal composite", Proc. SPIE 5049, Smart Structures and Materials 2003: Modeling, Signal Processing, and Control, (1 August 2003);

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