Energy-based modeling and robust position 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 with the port Hamiltonian modeling and control of a dielectric elastomer actuator used for a cardiac assistance device. The proposed non-linear model is identified under different applied voltages and pressures, and validated against experimental results with relative errors of less than 0.3%. Subsequently, two passivity-based controllers are designed to stabilize the actuator at a desired position. The first controller is designed using control by interconnection. The second one considers additional integral action to reject disturbances while preserving the passivity of the closed-loop system.

Keywords

Dielectric elastomer actuators; port-Hamiltonian systems; passivity-based control; integral action

Citation

• Journal: IFAC-PapersOnLine
• Year: 2024
• Volume: 58
• Issue: 6
• Pages: 25–30
• Publisher: Elsevier BV
• DOI: 10.1016/j.ifacol.2024.08.251
• Note: 8th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control LHMNC 2024- Besançon, France, June 10 – 12, 2024

BibTeX

@article{Hammoud_2024,
  title={{Energy-based modeling and robust position control of a dielectric elastomer cardiac assist device}},
  volume={58},
  ISSN={2405-8963},
  DOI={10.1016/j.ifacol.2024.08.251},
  number={6},
  journal={IFAC-PapersOnLine},
  publisher={Elsevier BV},
  author={Hammoud, Amal and Liu, Ning and Le Gorrec, Yann and Civet, Yoan and Perriard, Yves},
  year={2024},
  pages={25--30}
}

Download the bib file

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