Please use this identifier to cite or link to this item: doi:10.22028/D291-29785
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Title: Robust Interaction Control of a Dielectric Elastomer Actuator With Variable Stiffness
Author(s): Rizzello, Gianluca
Ferrante, Francesco
Naso, David
Seelecke, Stefan
Language: English
Title: IEEE ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division
Volume: 22
Issue: 4
Startpage: 1705
Endpage: 1716
Publisher/Platform: IEEE
Year of Publication: 2017
Publikation type: Journal Article
Abstract: This paper presents an interaction control algorithm for a dielectric elastomer membrane actuator. The proposed method permits efficient exploitation of the controllable stiffness of the material, allowing to use the membrane as a “programmable spring” in applications such as robotic manipulation or haptic devices. To achieve this goal, we propose a design algorithm based on robust control theory and linear matrix inequalities. The resulting controller permits to arbitrarily shape the stiffness of the elastomer, while providing robust stability and performance with respect to model nonlinearities. A self-sensing displacement estimation algorithm allows implementation of the method without the need of a deformation sensor, thus reducing cost and size of the system. The approach is validated on an experimental prototype consisting of an elastomer membrane preloaded with a bistable biasing spring.
DOI of the first publication: 10.1109/TMECH.2017.2713832
URL of the first publication:
Link to this record: hdl:20.500.11880/28190
ISSN: 1083-4435
Date of registration: 24-Oct-2019
Faculty: NT - Naturwissenschaftlich- Technische Fakultät
Department: NT - Systems Engineering
Professorship: NT - Prof. Dr. Stefan Seelecke
Collections:SciDok - Der Wissenschaftsserver der Universität des Saarlandes

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