Please use this identifier to cite or link to this item: doi:10.22028/D291-30852
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Title: Interaction control of a dielectric elastomer membrane with variable stiffness
Author(s): Rizzello, Gianluca
Ferrante, Francesco
Naso, David
Seelecke, Stefan
Language: English
Title: 2017 American Control Conference
Startpage: 210
Endpage: 215
Publisher/Platform: IEEE
Year of Publication: 2017
Title of the Conference: ACC 2017
Place of the conference: Seattle, Wash, USA
Publikation type: Conference Paper
Abstract: This paper presents an interaction control algorithm for a dielectric elastomer (DE) membrane actuator. The proposed method permits to efficiently exploit the controllable stiffness of the material, and use it as a “programmable spring”, thus enhancing its use in applications such as robotic manipulation or haptic devices. To achieve this goal, a design algorithm based on linear matrix inequalities is proposed, which grounds on a framework developed in the authors' previous works. The resulting controller is a low-gain partial state feedback law that controls the elastomer stiffness, while providing robust stability and performance with respect to model nonlinearities. The approach is validated on an experimental prototype consisting of a DE membrane preloaded with a bi-stable biasing spring.
DOI of the first publication: 10.23919/ACC.2017.7962955
URL of the first publication:
Link to this record: hdl:20.500.11880/29088
ISBN: 978-1-5090-5992-8
Date of registration: 5-May-2020
Faculty: NT - Naturwissenschaftlich- Technische Fakultät
Department: NT - Systems Engineering
Professorship: NT - Prof. Dr. Stefan Seelecke
Collections:UniBib – Die Universitätsbibliographie

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