Inverse modeling and control of a dielectric electro-active polymer smart actuator

Truong, Bui Ngoc Minh; Ahn, Kyoung Kwan

doi:10.1016/j.sna.2015.03.032

Cited by 15 publications

(6 citation statements)

References 26 publications

(28 reference statements)

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“…Figure 5 shows the asymmetric rate-dependent hysteresis loops of the DEAP actuator in the range of 0.1 to 0.5 Hz. It illustrates that the width of the hysteresis loops will gradually increase with increasing frequency of the input signal [7,12].…”

Section: Parameters Identificationmentioning

confidence: 97%

“…Based on this basic working principle, DEAP materials have been widely applied in high-precision trajectory tracking control as actuators and achieved great potential for applications in bioinspired soft robots filed, including an arm wrestling robot [4], a flying robot [5], and a swimming robot [6]. However, like other smart materials such as shape memory alloys (SMA), piezoelectrics and magnetostrictives, the inherent asymmetric rate-dependent hysteresis nonlinearity is ubiquitous in DEAP actuators [7], which causes tracking inaccuracy, leads to a decrease in the performance of the closed-loop system, or may even result in oscillations. Therefore, the asymmetric rate-dependent hysteresis modeling and tracking control of such DEAP actuators have been important issues.…”

Section: Introductionmentioning

confidence: 99%

“…Refs. [7,12] developed a Preisach-type dynamic nonlinear ARX fuzzy hysteresis model to describe the asymmetric rate-dependent hysteresis of DEAP actuators. It should be pointed out that the unmodeled hysteresis nonlinearity, residual dynamics, parameter uncertainties and external disturbances will reduce the trajectory tracking accuracy.…”

Section: Introductionmentioning

confidence: 99%

“…Various control strategies have been developed for trajectory tracking control of DEAP actuators such as PID control [7,13], internal model control [14] and adaptive sliding mode control (SMC) [15]. Among those control strategies, SMC scheme has been widely used to control the hysteresis nonlinearity systems, because SMC scheme can guarantee the global robustness of the systems, and can simply and effectively cope with parameters variation and external disturbances [16].…”

Section: Introductionmentioning

confidence: 99%

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Modeling and Discrete-Time Terminal Sliding Mode Control of a DEAP Actuator with Rate-Dependent Hysteresis Nonlinearity

Wang

et al. 2019

Applied Sciences

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Dielectric electro-active polymer (DEAP) materials, also called artificial muscle, are a kind of EAP smart materials with extraordinary strains up to 30% at a high driving voltage. However, the asymmetric rate-dependent hysteresis is a barrier for trajectory tracking control of DEAP actuators. To overcome the barrier, in this paper, a Hammerstein model is established for the asymmetric rate-dependent hysteresis of a DEAP actuator first, in which a modified Prandtl-Ishlinskii (MPI) model is used to represent the static hysteresis nonlinear part, and an autoregressive with exogenous inputs (ARX) model is used to represent the linear dynamic part. Applying Levenberg-Marquardt (LM) algorithm identifies the parameters of the Hammerstein model. Then, based on the MPI model, an inverse hysteresis compensator is obtained to compensate the hysteresis behavior. Finally, a compound controller consisting of the hysteresis compensator and a novel discrete-time terminal sliding mode controller (DTSMC) without state observer is proposed to achieve the high-precision trajectory tracking control. Stability analysis of the closed-loop system is verified by using Lyapunov stability theorem. Experimental results based on a DEAP actuator show that the proposed controller has better tracking control performance compared with a conventional discrete-time sliding mode controller (DSMC).

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Section: Parameters Identificationmentioning

confidence: 97%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Modeling and Discrete-Time Terminal Sliding Mode Control of a DEAP Actuator with Rate-Dependent Hysteresis Nonlinearity

Wang

et al. 2019

Applied Sciences

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“…The examples of hysteresis models include the Duhem model, 7 Bouc-Wen model, 8 Prandtl-Ishlinskii model 9 and Preisach model. 10,11 However, it is difficult or time-consuming to obtain the accurate mathematical model and to identify system parameters based on these techniques due to the complexity and high non-linearity of the hysteresis effects. Moreover, these methods do not provide robustness with time-varying parameters and uncertainties in different working conditions.…”

Section: Introductionmentioning

confidence: 99%

Adaptive-gain fast nonsingular terminal sliding mode for position control of a piezo positioning stage

Dinh

Ahn

2018

Proceedings of the Institution of Mechanical Engineers, Part I:

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This article proposed a variable gain fast terminal sliding mode controller with an estimator of the uncertainty model for a piezo positioning stage system. The designed terminal sliding mode control has some advantages over the linear sliding mode control such as fast convergence and chattering reduction while maintains its robustness to the uncertainties. Next, an indirect technique is developed to enable the elimination of the singularity problem corresponding to initial terminal sliding mode control. In addition, a cerebellar model articulation controller is carried out to estimate the nonlinear dynamics of the piezo positioning stage. To deal with unknown bounds of uncertainties and disturbances, the proposed scheme consists of using online tuning control gains that ensure the establishment of a real terminal sliding mode in a finite time. Moreover, a fuzzy logic scheme is presented to smooth out the discontinuity part of the control signal, hence improve the control performance. Stability analysis of closed loop system is provided using the Lyapunov function method. Experiment results are presented to evaluate the effectiveness of the designed control approach.

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A novel inverse modeling control for piezo positioning stage

Dinh

Luan²,

Ahn

2018

J Mech Sci Technol

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Inverse modeling and control of a dielectric electro-active polymer smart actuator

Cited by 15 publications

References 26 publications

Modeling and Discrete-Time Terminal Sliding Mode Control of a DEAP Actuator with Rate-Dependent Hysteresis Nonlinearity

Modeling and Discrete-Time Terminal Sliding Mode Control of a DEAP Actuator with Rate-Dependent Hysteresis Nonlinearity

Adaptive-gain fast nonsingular terminal sliding mode for position control of a piezo positioning stage

A novel inverse modeling control for piezo positioning stage

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