Modeling, Identification, and Control of a Dielectric Electro-Active Polymer Positioning System

Rizzello, Gianluca; Naso, David; York, Alexander; Seelecke, Stefan

doi:10.1109/tcst.2014.2338356

Cited by 113 publications

(82 citation statements)

References 37 publications

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“…When a voltage is applied to the electrodes, it generates a pressure (known as Maxwell Stress) that compresses the material in the thickness direction, producing a radial expansion and the subsequent actuation motion shown in Fig.3. A detailed dynamical model of the system can be obtained by extending the work developed for simpler configurations [8], [11], with new elements that take into account the effects of the NBS and also the consequent need of improving the viscoelastic model of the membrane relaxation due to the larger deformations. The overall model of the DEAP actuator can be described as in eq.…”

Section: Lmi-based Design Of Pi Controllers For Micropositioning Dielmentioning

confidence: 99%

“…The quadratic nonlinearity in the input voltage can be eliminated by inserting a square root function between the plant and the controller (a discussion of the benefits of this operation is provided in [8]). Note that the new input u is constrained to the range [0 6.25] kV 2 , as a consequence of the limits on v.…”

Section: A Deap Model As Quasi-lpv Systemmentioning

confidence: 99%

“…The combination of the DEAP with the bistable spring permits to achieve much larger actuation stroke in comparison with other biasing elements such as linear springs or masses [9], but the overall positioning system may exhibit strongly nonlinear behavior such as bi-stability [10]. This paper first describes a detailed mathematical model of the considered system, which extends the work described in [8] to take into account the nonlinear effects introduced by the preloading elements. Subsequently, we address the model-based design of a PI control using tools from Linear Parameter Varying (LPV) control theory and Linear Matrix Inequalities (LMI) algorithms, to obtain a simple control law which ensures output regulation with guaranteed worst-case dynamic performances.…”

Section: Introductionmentioning

confidence: 96%

“…It has been remarked that the design of feedback control systems is a possible way to partly overcome these limitations. References [5]- [8] are among the few recent contributions exploring the role of feedback control in DEAP-based devices.…”

Section: Introductionmentioning

confidence: 99%

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LMI-based design of PI controllers for micropositioning dielectric electro-active polymer membranes

Rizzello

Naso

Turchiano

et al. 2015

2015 American Control Conference (ACC)

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This paper develops a control system for a bistable positioning system based on a dielectric electro-active polymer membrane. The motion is generated by the deformation of the membrane caused by the electrostatic compressive force between two compliant electrodes applied on the surface of the polymer. A bi-stable spring is used to pre-load the membrane, allowing high stroke but producing at the same time a strong non-linear behavior. The paper proposes a detailed electro-mechanical model of the system, which is subsequently used to develop a model-based PI control law providing precise tracking and worst-case performance guarantees. The design strategy is validated both in simulations and experiments.

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Section: Lmi-based Design Of Pi Controllers For Micropositioning Dielmentioning

confidence: 99%

Section: A Deap Model As Quasi-lpv Systemmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 96%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

LMI-based design of PI controllers for micropositioning dielectric electro-active polymer membranes

Rizzello

Naso

Turchiano

et al. 2015

2015 American Control Conference (ACC)

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“…Several DEAP models have been proposed in literature for describing the static and the dynamic response, respectively by means of hyperelasticity theory [37], [38], energetic approaches [39], [40], and viscoelasticity theory [41]- [43]. A physics-based model for the case of an annular DEAP membrane can be found in [44], and is reported in condensed form in (17), where the input is the voltage u, the output is the displacement d (see Fig. 5), and the state vector consists of an internal material strain e ε (see the nonlinear viscoelastic model of Fig.…”

Section: B Modeling and Control Of Deap Actuatorsmentioning

confidence: 99%

Modeling and control of innovative smart materials and actuators: A tutorial

Riccardi

Rizzello

Naso

et al. 2014

2014 IEEE Conference on Control Applications (CCA)

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The need for mechatronic devices that are lightweight, less cumbersome and able to produce small, quick and precise movements or forces is ever increasing in many fields of engineering. Many recent design solutions are based on electrically, magnetically or thermally activated materials, often referred to as smart materials. This tutorial paper overviews the main properties and the resulting applications of two recently discovered smart materials, magnetic shape memory alloys (MSMAs) and electroactive polymers (EAPs), which have complementary characteristics and seem suitable to overcome some of the inherent limitations of other materials widely used in industrial applications, such as piezoelectric ceramics. As many other smart materials, MSMAs and EAPs exhibit nonlinear, hysteretic and time-varying behaviors, and therefore this tutorial discusses the main ways to model and effectively compensate these critical issues with advanced control strategies.

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Review of Dielectric Elastomer Actuators and Their Applications in Soft Robots

Guo

Liu

et al. 2021

Advanced Intelligent Systems

152

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Robots play an increasingly important role in industrial production and daily life. Traditional robots are mostly made of hard materials, such as metal and plastic. Although rigidity of the material enables the traditional robot to perform tasks that are difficult for humans, for instance, carrying heavy objects, it also limits its adaptability. In nature, animals and plants are mostly made of soft materials, which make them have very high compliance and realize a variety of unimaginable actions. Similar to natural creatures, soft robots are usually composed of soft stimuli-responsive materials, which make them have good adaptability and compliance, and can achieve large deformation.Triggered by external stimuli, such as electric fields, magnetic fields, heat, and light, these soft stimuli-responsive materials can deform in a specific direction. The soft stimuli-responsive materials commonly used in soft robots include electroactive polymers (EAP), [1][2][3] hydrogels, [4][5][6][7] magnetic materials, [8][9][10] shape memory polymers (SMP), [11][12][13] shape memory alloys (SMA), [14,15] liquid crystal elastomers (LCE), [16][17][18] and so on. In addition, other actuation methods, such as pneumatic inflation and [19] electrostatic, [20,21] are also widely used in soft robots. To have an overview of different actuation methods, their performances with the maximum values are shown in Table 1. Although these maximum values were obtained from different actuators for each actuation method, they still demonstrate the potential upper limit.Dielectric elastomer (DE) is a typical EAP, which can generate significant deformation under the action of an external electric field. Thanks to its characteristics, such as large deformation, [22,23] fast response, [24,25] low elastic modulus, [2] high energy density, [26,27] light weight, [28,29] and low cost, [28] DE has the reputation of artificial muscles and has become one of the most promising materials in soft robots. [30][31][32][33][34] In this Review, we concentrate on the recent progresses of dielectric elastomer actuators (DEAs) and their application in soft robots. In Section 2, we first introduce the working principle of DEAs, followed by the DE materials and compliant electrodes. Then, various DEAs with different designs are introduced. In Section 3, the application of DEAs in soft robots is divided into seven categories. Some recent highlights are described and discussed in detail, especially those with biological inspiration. We summarize some of the challenges in Section 4 and this is followed with the conclusion in Section 5. Dielectric Elastomer Actuators Working PrincipleGenerally, the structure of a DEA is similar to a sandwich, consisting of a DE membrane, where both surfaces are coated with compliant electrodes, as shown in Figure 1a. Once the compliant electrodes are subjected to voltage, an electric field will be generated in the membrane. The induced Maxwell stress causes the membrane to expand its area and contract its thickness. Based on the mechanism of ...

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Modeling, Identification, and Control of a Dielectric Electro-Active Polymer Positioning System

Cited by 113 publications

References 37 publications

LMI-based design of PI controllers for micropositioning dielectric electro-active polymer membranes

LMI-based design of PI controllers for micropositioning dielectric electro-active polymer membranes

Modeling and control of innovative smart materials and actuators: A tutorial

Review of Dielectric Elastomer Actuators and Their Applications in Soft Robots

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