Sliding-Mode Control of a Dielectric Elastomer Actuator Featuring Non-Invertible Dynamics

James Donald Maclean; Jiang  Zou; Guoying  Guo; Vahid Vaziri; Sumeet S. Aphale

doi:10.1109/M2VIP49856.2021.9665126

Sliding-Mode Control of a Dielectric Elastomer Actuator Featuring Non-Invertible Dynamics

James Donald Maclean^* (Corresponding Author), Jiang Zou, Guoying Guo, Vahid Vaziri, Sumeet S. Aphale

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Published conference contribution

3 Citations (Scopus)

Abstract

Dielectric elastomers are highly nonlinear actuators with complex dynamic behaviour. As a consequence they are modeled using both viscoelastic and geometric nonlinear elements. Their control is especially challenging due to the dominant hysteresis and creep behavior they exhibit. These nonlinearities also deem their dynamics non-invertible and consequently, their effective control is nontrivial. A novel sliding-mode scheme that approximates the system dynamics locally for small time steps is designed herewith. Simulated closed-loop results are presented to demonstrate the efficacy of the proposed control technique.

Original language	English
Title of host publication	2021 27th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)
Publisher	IEEE Explore
Number of pages	6
ISBN (Electronic)	978-1-6654-3153-8
ISBN (Print)	978-1-6654-3154-5
DOIs	https://doi.org/10.1109/M2VIP49856.2021.9665126
Publication status	Published - 7 Jan 2022
Event	The IEEE 27th International Conference on Mechatronics and Machine Vision in Practice - Shanghai, CHINA Duration: 26 Nov 2021 → 28 Nov 2021 https://m2vip2021.sjtu.edu.cn

Conference

Conference	The IEEE 27th International Conference on Mechatronics and Machine Vision in Practice
Abbreviated title	M2VIP 2021
Country/Territory	CHINA
City	Shanghai
Period	26/11/21 → 28/11/21
Internet address	https://m2vip2021.sjtu.edu.cn

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10.1109/M2VIP49856.2021.9665126Licence: Unspecified

Cite this

Sliding-Mode Control of a Dielectric Elastomer Actuator Featuring Non-Invertible Dynamics. / Maclean, James Donald (Corresponding Author); Zou, Jiang; Guo, Guoying et al.
2021 27th International Conference on Mechatronics and Machine Vision in Practice (M2VIP). IEEE Explore, 2022.

Research output: Chapter in Book/Report/Conference proceeding › Published conference contribution

Maclean, JD, Zou, J, Guo, G, Vaziri, V & Aphale, SS 2022, Sliding-Mode Control of a Dielectric Elastomer Actuator Featuring Non-Invertible Dynamics. in 2021 27th International Conference on Mechatronics and Machine Vision in Practice (M2VIP). IEEE Explore, The IEEE 27th International Conference on Mechatronics and Machine Vision in Practice , Shanghai, CHINA, 26/11/21. https://doi.org/10.1109/M2VIP49856.2021.9665126

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title = "Sliding-Mode Control of a Dielectric Elastomer Actuator Featuring Non-Invertible Dynamics",

abstract = "Dielectric elastomers are highly nonlinear actuators with complex dynamic behaviour. As a consequence they are modeled using both viscoelastic and geometric nonlinear elements. Their control is especially challenging due to the dominant hysteresis and creep behavior they exhibit. These nonlinearities also deem their dynamics non-invertible and consequently, their effective control is nontrivial. A novel sliding-mode scheme that approximates the system dynamics locally for small time steps is designed herewith. Simulated closed-loop results are presented to demonstrate the efficacy of the proposed control technique.",

author = "Maclean, {James Donald} and Jiang Zou and Guoying Guo and Vahid Vaziri and Aphale, {Sumeet S.}",

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T1 - Sliding-Mode Control of a Dielectric Elastomer Actuator Featuring Non-Invertible Dynamics

AU - Maclean, James Donald

AU - Zou, Jiang

AU - Guo, Guoying

AU - Vaziri, Vahid

AU - Aphale, Sumeet S.

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Y1 - 2022/1/7

N2 - Dielectric elastomers are highly nonlinear actuators with complex dynamic behaviour. As a consequence they are modeled using both viscoelastic and geometric nonlinear elements. Their control is especially challenging due to the dominant hysteresis and creep behavior they exhibit. These nonlinearities also deem their dynamics non-invertible and consequently, their effective control is nontrivial. A novel sliding-mode scheme that approximates the system dynamics locally for small time steps is designed herewith. Simulated closed-loop results are presented to demonstrate the efficacy of the proposed control technique.

AB - Dielectric elastomers are highly nonlinear actuators with complex dynamic behaviour. As a consequence they are modeled using both viscoelastic and geometric nonlinear elements. Their control is especially challenging due to the dominant hysteresis and creep behavior they exhibit. These nonlinearities also deem their dynamics non-invertible and consequently, their effective control is nontrivial. A novel sliding-mode scheme that approximates the system dynamics locally for small time steps is designed herewith. Simulated closed-loop results are presented to demonstrate the efficacy of the proposed control technique.

UR - https://m2vip2021.sjtu.edu.cn

U2 - 10.1109/M2VIP49856.2021.9665126

DO - 10.1109/M2VIP49856.2021.9665126

M3 - Published conference contribution

SN - 978-1-6654-3154-5

BT - 2021 27th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)

PB - IEEE Explore

T2 - The IEEE 27th International Conference on Mechatronics and Machine Vision in Practice

Y2 - 26 November 2021 through 28 November 2021

ER -

Sliding-Mode Control of a Dielectric Elastomer Actuator Featuring Non-Invertible Dynamics

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