Abstract: The ionic polymer metal composite (IPMC), also called artificial muscle, is a novel smart polymer material, many potential application for lowmass highdisplacement actuators in biomedical and robotic systems have been shown. An operatorbased nonlinear robust tracking control or a nonlinear IPMC with uncertainties is proposed. That is, first, a nonlinear robust stable control system is designed based on robust right coprime factorization approach. Second, a position tracking system is presented based on the obtained robust stable system to improve tracking performance. Finally, the simulation and experimental results are shown to confirm the effectiveness of the proposed method.

Key words: ionic polymer metal composite (IPMC), robust right coprime factorization, operator, robust stability, nonlinear precision position control