The accurate modeling of electrical impedance over a wide range of frequency is essential for precise dynamic modeling and control problems of Electroactive Polymer (EAP) actuators. Recently, fractional order modeling has attracted more attention due to the high accuracy. This paper deals with a fractional order electrical impedance model and its identification procedure for a class of EAP actuator named Ionic Polymer Metal Composite (IPMC). To take IPMC’s fractional characteristic into account, constant phase element (CPE) is used to construct a model structure according to Electrochemical Impedance Spectroscopy (EIS). By employing the Levy’s method in combination with genetic optimization algorithm, the unknown parameters of the resulting fractional transfer function are identified. Finally the proposed model is verified, by comparing with experimental EIS data. The results show that the fractional order model has high accuracy for representing the electrical impedance of IPMC actuator. The proposed modeling procedure is general and can also be used for any type of EAPs.
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