Force control of ionic polymer-metal composite actuators with carbon-based electrodes

Vunder V., Itik M., Punning A., Aabloo A.

Conference on Electroactive Polymer Actuators and Devices (EAPAD), California, United States Of America, 10 - 13 March 2014, vol.9056 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Volume: 9056
  • Doi Number: 10.1117/12.2045001
  • City: California
  • Country: United States Of America
  • Karadeniz Technical University Affiliated: Yes


To perform tasks such as hold an object with a constant force, the reliable control of an ionic electroactive polymer actuator is essential. The composite under research is an IPMC actuator with electrodes composed of nanoporous carbon and membrane made of ionic polymer. Compared to traditional platinum electrodes, these novel electrodes do not crack in clusters and have highly controllable properties which preserve even when the actuator is deformed. So far, there are no reports on the dynamic force response of this composite. We present the first attempts of testing the force dynamics of an IPMC with nanoporous carbon electrodes under open-and closed-loop controls. As many attempts have been focused on the sensorless force control of ionic electroactive polymers, we first investigate the uncompensated dynamics of the actuator, then use the direct inverse model to obtain the desired tracking performance. We also aim to identify the conditions, under which the actuator is suitable for sensorless control. Furthermore, we improve the tracking ability of the actuator using a feedback controller where the force sensor data is available and incorporate a feedforward controller into the feedback control system. Based on the experiments, the resulting effects on the tracking performance are observed.