High-Precision Tracking Control of a Soft Dielectric Elastomer Actuator With Inverse Viscoelastic Hysteresis Compensation

• Published in: IEEE/ASME transactions on mechatronics Vol. 24; no. 1; pp. 36 - 44
• Main Authors: Zou, Jiang, Gu, Guoying
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.02.2019; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Actuators; Adaptive control; Compensation; Control systems; Control theory; Controllers; Creep; Dielectric elastomer actuator (DEA); Dielectric elastomer actuators; direct inverse hysteresis compensation (DIHC); Elastomers; Feedback control; Feedforward control; high-precision tracking control; High-voltage techniques; Hysteresis; Hysteresis models; Tracking control; Tracking errors; Trajectories; Viscoelasticity

In this paper, we present a new control approach for high-precision tracking control of a soft dielectric elastomer actuator (DEA) with inverse viscoelastic hysteresis compensation. To this end, we first investigate the viscoelastic response of the DEA and divide it into transition region and stable...