Modeling and control of ionic polymer metal composite actuators: A review

Ionic polymer metal composite (IPMC) is a new type of flexible electroactive polymer, which has the advantages of fast response, large driving displacement, small elastic modulus and good biocompatibility, it is widely used in artificial muscles, micro-manipulators and soft robots. In this paper, the main factors that affect the actuation performance of IPMC are analyzed, and three modeling techniques are described in detail: black box models, gray box models and white box models. Then five control methods of IPMC are analyzed and discussed, including proportional integral derivative control, adaptive control, sliding mode control, inverse control and other control methods. Finally, the model and control of IPMC are summarized, and the future development direction is prospected. This paper will lay a theoretical foundation for the further engineering application of flexible IPMC actuators, promote the rapid development of soft robots, and provide a direction for the establishment of intelligent integrated robots.

Automated summary

This paper analyzes the main factors affecting the actuation performance of IPMC and describes three modeling techniques in detail: black box models, gray box models, and white box models. Then, five control methods of IPMC are analyzed and discussed, including proportional integral derivative control, adaptive control, sliding mode control, inverse control, and other control methods. Finally, the model and control of IPMC are summarized, and the future development direction is prospected.