Active disturbance rejection control for output force creep characteristics of ionic polymer metal composites

Ionic polymer metal composites (IPMCs) are a type of electroactive polymer (EAP) that can be used as both sensors and actuators. An IPMC has enormous potential application in the field of biomimetic robotics, medical devices, and so on. However, an IPMC actuator has a great number of disadvantages, such as creep and time-variation, making it vulnerable to external disturbances. In addition, the complex actuation mechanism makes it difficult to model and the demand of the control algorithm is laborious to implement. In this paper, we obtain a creep model of the IPMC by means of model identification based on the method of creep operator linear superposition. Although the mathematical model is not approximate to the IPMC accurate model, it is accurate enough to be used in MATLAB to prove the control algorithm. A controller based on the active disturbance rejection control (ADRC) method is designed to solve the drawbacks previously given. Because the ADRC controller is separate from the mathematical model of the controlled plant, the control algorithm has the ability to complete disturbance estimation and compensation. Some factors, such as all external disturbances, uncertainty factors, the inaccuracy of the identification model and different kinds of IPMCs, have little effect on controlling the output block force of the IPMC. Furthermore, we use the particle swarm optimization algorithm to adjust ADRC parameters so that the IPMC actuator can approach the desired block force with unknown external disturbances. Simulations and experimental examples validate the effectiveness of the ADRC controller.