Identification of an ionic polymer metal composite actuator employing Preisach type fuzzy NARX model and Particle Swarm Optimization

► Preisach operator and fuzzy NARX structure are combined to model the IPMC actuator. ► The Preisach operator describes rate independent hysteresis characteristic. ► Fuzzy NARX structure captures nonlinear dynamics. ► Optimized model captures well bending behavior of IPMC actuator.