Energy-based control of a dielectric elastomer cardiac assist device

Authors

Amal Hammoud, Ning Liu, Yann Le Gorrec, Yoan Civet, Yves Perriard

Abstract

This paper is concerned by the port-Hamiltonian modeling and control of a dielectric elastomer actuator designed for use in a cardiac assist device. The proposed nonlinear model captures the actuator’s hyperelastic material behavior, viscoelastic damping, and electromechanical coupling, and remains valid for large deformations up to 40 %. An original Interconnection and Damping Assignment Passivity-Based Control strategy is developed to achieve closed-loop stabilization at a desired position. The accuracy of the multiphysics model and the performances of the proposed controller are experimentally validated.

Keywords

dielectric elastomer actuators, mechatronic system estimation, identification, control, model identification, passivity-based control, port-hamiltonian systems

Citation

Journal: Mechatronics
Year: 2026
Volume: 117
Issue:
Pages: 103515
Publisher: Elsevier BV
DOI: 10.1016/j.mechatronics.2026.103515

BibTeX

@article{Hammoud_2026,
  title={{Energy-based control of a dielectric elastomer cardiac assist device}},
  volume={117},
  ISSN={0957-4158},
  DOI={10.1016/j.mechatronics.2026.103515},
  journal={Mechatronics},
  publisher={Elsevier BV},
  author={Hammoud, Amal and Liu, Ning and Gorrec, Yann Le and Civet, Yoan and Perriard, Yves},
  year={2026},
  pages={103515}
}

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References

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