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 proceedingPublished conference contribution

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 languageEnglish
Title of host publication2021 27th International Conference on Mechatronics and Machine Vision in Practice (M2VIP)
PublisherIEEE Explore
Number of pages6
ISBN (Electronic)978-1-6654-3153-8
ISBN (Print)978-1-6654-3154-5
DOIs
Publication statusPublished - 7 Jan 2022
EventThe IEEE 27th International Conference on Mechatronics and Machine Vision in Practice - Shanghai, CHINA
Duration: 26 Nov 202128 Nov 2021
https://m2vip2021.sjtu.edu.cn

Conference

ConferenceThe IEEE 27th International Conference on Mechatronics and Machine Vision in Practice
Abbreviated titleM2VIP 2021
Country/TerritoryCHINA
CityShanghai
Period26/11/2128/11/21
Internet address

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