Position Control of Dielectric Elastomer Actuators Based on Port-Hamiltonian Framework

Authors

Giuseppe Panaro, Gianluca Rizzello, David Naso, Stefan Seelecke

Abstract

This paper deals with position control of an actuator system consisting of a dielectric elastomer membrane biased with a combination of a linear and a bi-stable spring. The highly nonlinear response of dielectric elastomer material, in conjunction with the bi-stable biasing spring, makes the control of the overall system challenging. To systematically address the design of the control system, a novel approach is proposed based on port-Hamiltonian (PH) theory. First, based on a recently developed PH model of the dielectric elastomer material, a PH model of the overall actuator system is obtained. Subsequently, several control laws are designed by means of PH theory, i.e., interconnection and damping assignment passivity-based control (IDA-PBC), and IDA-PBC with integral of non-passive output for robust regulation. The developed control laws are finally compared with a conventional PID, showing improved dynamic performance in the overall actuation range.

Citation

• Journal: 2018 IEEE Conference on Decision and Control (CDC)
• Year: 2018
• Volume:
• Issue:
• Pages: 6888–6893
• Publisher: IEEE
• DOI: 10.1109/cdc.2018.8619077

BibTeX

@inproceedings{Panaro_2018,
  title={{Position Control of Dielectric Elastomer Actuators Based on Port-Hamiltonian Framework}},
  DOI={10.1109/cdc.2018.8619077},
  booktitle={{2018 IEEE Conference on Decision and Control (CDC)}},
  publisher={IEEE},
  author={Panaro, Giuseppe and Rizzello, Gianluca and Naso, David and Seelecke, Stefan},
  year={2018},
  pages={6888--6893}
}

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