Control of Combined IPMC Actuator with 2 Variously Doped Films : Experimental Evaluation

Some types of polymer actuators have been focused. These actuators are sometimes called artificial muscle. IPMC - ionic polymer and metal composite is one of the notable actuator. The characteristics of IPMC actuation is highly dependent on the type of dopant ion. This phenomenon is called ´doping effect´. It is expected that performance of the actuation can be improved by combining multiple IPMC films which are doped different types of dopant ions and with suitable control. In this paper, we construct a model to explain the doping effect and propose a combined system of IPMC actuator with variously doped films, and model matching control based on H_infin control theory.