The periodic output feedback control for creep characteristics of Ionic Polymer-Metal Composite (IPMC)

IPMC (Ionic Polymer-Metal Composite) is an artificial intelligent material, and the applied low driving voltage can make it produce a large deformation. People make full use of this feature to make into a variety of biomimetic robots by IPMC materials. However, this material has creep characteristics, which does not meet the needs of the operation accuracy. Thus, this limits greatly many kinds of application life. The controller by the periodic out feedback control method is designed to control the material's stiffness, and IPMC films, with such controller, can be to effectively meet the required position accuracy. It is proved through the simulation experiment in our laboratory that such an effective controller for creep characteristics of the IPMC is feasible.