The ionic polymer metal composite (IPMC) , also called artificial muscle, is a novel smart polymer material, many potential application for low-mass high-displacement actuators in biomedical and robotic systems have been shown. An operator-based nonlinear robust tracking control or a nonlinear IPMC with uncertainties is proposed. That is, first, a nonlinear robust stable control system is designed based on robust right coprime factorization approach. Second, a position tracking system is presented based on the obtained robust stable system to improve tracking performance. Finally, the simulation and experimental results are shown to confirm the effectiveness of the proposed method.%IPMC(Ionic Polymer Metal Composite)人工肌肉是一种离子交换聚合金属材料,由于具有在低电压作用下可以产生较大弯曲的特性,已经被作为分布式传感器和执行器广泛应用于各种仿生机器人构建中.为了在各种仿生机器人中应用IPMC人工肌肉,期望的位置或偏移量必须能够精确地控制.针对这个问题,通过应用鲁棒右互质分解方法,本文设计一种基于演算子理论的IPMC人工肌肉精确位置控制系统,该系统不仅保证了鲁棒稳定性,而且能够实现精确的位置跟踪.最后,通过仿真和实验结果,系统的有效性进一步得到验证.
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