Abstract
This paper presents methods of end point motion control of an Ionic Polymer-Metal Composite actuator. Feedforward control with the inverse system is used. Through frequency analysis of the IPMC, an inverse transfer function is formulated. Validity of the proposed control methods was verified with numerical simulations and experiments. The results show good control performance without disturbance. Feedforward control based on the low-pass inverse system worked quite effectively without disturbance. When subjected to external disturbance, the feedback control performance remains quite good.