Position and anti-drift control of large-scale curling HASEL actuators

Authors

Nelson Cisneros, Cristobal Ponce, Yongxin Wu, Alessandro Macchelli, Yann Le Gorrec, Hector Ramirez

Abstract

This paper addresses the position and anti-drift control of large-scale curling Hydraulically Amplified Self-Healing Electrostatic (HASEL) actuators using the Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) methodology formulated within the port-Hamiltonian systems (PHS) framework. Expanding upon previous work on low-scale models, this study adapts the control strategy to large-scale systems, ensuring its effectiveness across scales. The proposed control law retains its structure from the low-scale case, with dimensionality remaining constant despite the increased system complexity. As in the low-scale setting, the closed-loop system mitigates the drift. Numerical simulations confirm the methodology’s effectiveness, demonstrating its capability to achieve precise position control and mitigate drift in large-scale systems.

Keywords

hasel actuator, nonlinear control, passivity-based control, port-hamiltonian systems, soft actuator

Citation

• Journal: IFAC-PapersOnLine
• Year: 2025
• Volume: 59
• Issue: 19
• Pages: 502–507
• Publisher: Elsevier BV
• DOI: 10.1016/j.ifacol.2025.11.084
• Note: 13th IFAC Symposium on Nonlinear Control Systems NOLCOS 2025- Reykjavík, Iceland, July 23-25, 2025

BibTeX

@article{Cisneros_2025,
  volume={59},
  ISSN={2405-8963},
  DOI={10.1016/j.ifacol.2025.11.084},
  number={19},
  journal={IFAC-PapersOnLine},
  publisher={Elsevier BV},
  author={Cisneros, Nelson and Ponce, Cristobal and Wu, Yongxin and Macchelli, Alessandro and Le Gorrec, Yann and Ramirez, Hector},
  year={2025},
  pages={502--507}
}

Download the bib file

References

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