Inverse hysteresis modeling and nonlinear compensation of ionic polymer metal composite sensors

In this paper, an experimental stage for IPMC sensors will be designed, and characteristics of the sensor are analyzed based on experimental data. From analyses, it is known that IPMC sensors are inherent with both hysteresis and dynamic features. The existence of hysteresis and dynamics will degrade the performance of the sensor. Hence, it should design a compensator to eliminate the effect of hysteresis and dynamics so as to obtain a linear relationship between the input and output of the sensor. In this paper, a nonlinear compensator based on an inverse dynamic hysteresis model on an expanded input space is proposed to suppress the effect of hysteresis and dynamics on IPMC sensor.