Please use this identifier to cite or link to this item: doi:10.22028/D291-30893
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Title: Position Control of Dielectric Elastomer Actuators Based on Port-Hamiltonian Framework
Author(s): Panaro, Giuseppe
Rizzello, Gianluca
Naso, David
Seelecke, Stefan
Language: English
Title: 2018 IEEE Conference on Decision and Control (CDC)
Pages: 6
Publisher/Platform: IEEE
Year of Publication: 2018
Title of the Conference: CDC 2018
Place of the conference: Miami Beach, Florida, USA
Publikation type: Conference Paper
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.
DOI of the first publication: 10.1109/CDC.2018.8619077
URL of the first publication:
Link to this record: hdl:20.500.11880/29116
ISBN: 978-1-5386-1395-5
Date of registration: 11-May-2020
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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