Design and Implementation of Robust Control Systems for Ionic Polymer Metal Composite (IPMC) Actuators

Due to rapid development in the field of underwater micro-scale applications, the outcomes of this thesis could contribute towards this new generation of smart actuators in a wide range of potential applications. Thus, this work paves the way for the potential uses of an underwater IPMC in the future, including a tiny finger to grab, handle small objects or even as a fin of mimic robotic fish. In this thesis, we have developed different robust control strategies for the underwater IPMC.