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doi:10.22028/D291-30898
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: | ASME |
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: | SciDok - Der Wissenschaftsserver der Universität des Saarlandes |
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