Modeling and Control of Conducting Polymer Actuator

Conducting polymer (CP) actuator has nonlinear dynamic characteristics during its charge process. In this study, we proposed an electromechanic model and optimal controller for a type of ionic electroactive (IEPA) with submillimeter scale, which can produce large deformation under low actuation voltage. The electronic is to describe the evolution state in time domain. mechanic calculate CP force external force. Based on coupling model, parameter identification method estimate actuator. experiments show that our successfully predicts different input voltages identified parameters. last step, designed control orientation IEAP actuator, achieves at high performance experiments. success modeling lays foundation work subsequent biomedical applications.