Please use this identifier to cite or link to this item: doi:10.22028/D291-30898
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Title: Energy Optimal Control of Dielectric Elastomer Actuators via Adaptive Dynamic Programming
Author(s): Massenio, Paolo Roberto
Naso, David
Rizzello, Gianluca
Language: English
Title: Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference - 2019
Pages: 7
Publisher/Platform: American Society of Mechanical Engineers
Year of Publication: 2019
Title of the Conference: ASME 2019
Place of the conference: Anaheim, California, USA
Publikation type: Conference Paper
Abstract: This paper presents an optimal motion control scheme for a mechatronic actuator based on a dielectric elastomer membrane transducer. The optimal control problem is formulated such that a desired position set-point is reached with minimum amount of driving energy, characterized via an accurate physical model of the device. Since the considered actuator is strongly nonlinear, an approximated approach is required to practically address the design of the control system. In this work, an Adaptive Dynamic Programming based algorithm is proposed, capable of minimizing a cost function related to the energy consumption of the considered system. Simulation results are presented in order to assess the effectiveness of the proposed method, for different set-point regulation scenarios.
DOI of the first publication: 10.1115/DETC2019-98156
URL of the first publication: https://asmedigitalcollection.asme.org/IDETC-CIE/proceedings-abstract/IDETC-CIE2019/59292/V009T12A046/1070245
Link to this record: hdl:20.500.11880/29121
http://dx.doi.org/10.22028/D291-30898
ISBN: 978-0-7918-5929-2
Date of registration: 11-May-2020
Notes: Volume 9: 15th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications
Faculty: NT - Naturwissenschaftlich- Technische Fakultät
Department: NT - Systems Engineering
Professorship: NT - Prof. Dr. Stefan Seelecke
Collections:UniBib – Die Universitätsbibliographie

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