Identification and Fractional super-twisting robust control of IPMC Actuators

In this paper Ionic Polymer-Metal Composites (IPMC) actuators motion control is addressed by using a new approach based on the modified fractional super twisting control strategy. We present the theoretical aspect of the proposed control strategy and then the performances of the controlling strategy are validated for an IPMC actuator by using an ad hoc developed experimental setup. The reported results show that the standard fractional super twisting control and the proposed modified fractional super twisting control over perform standard PI controllers.