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doi:10.22028/D291-30893
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: | https://ieeexplore.ieee.org/document/8619077 |
Link to this record: | hdl:20.500.11880/29116 http://dx.doi.org/10.22028/D291-30893 |
ISBN: | 978-1-5386-1395-5 978-1-5386-1394-8 |
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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