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Model-free Adaptive Control of Dielectric Elastomer Actuator

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Intelligent Robotics and Applications (ICIRA 2023)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 14270))

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Abstract

Soft robots are usually driven by soft actuators, and the dielectric elastomer actuator (DEA) is recognized as one of the most promising soft actuators. However, the DEA has complex nonlinear char- acteristics, which brings great challenges to its control. So, how to use the appropriate method to control the DEA has become a problem worth pondering. This paper proposes three model-free adaptive control (MFAC) methods to realize the tacking control of the DEA. These meth- ods avoid the complex process of establishing the dynamic model of the DEA, and only need the input and output data to control. Thus, these methods have a strong adaptability and generalization ability. To verify the effectiveness of the proposed methods, some simulations are imple- mented. More importantly, some actual experiments are implemented to further demonstrate the validity of the methods. The root-mean-square errors (RMSEs) of the simulation results are less than 0.35%, and the RMSEs of the actual experimental results can be maintained at about 6.5%, which fully reflects the excellence of the proposed methods.

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Author information

Authors and Affiliations

  1. School of Automation, China University of Geosciences, Wuhan, 430074, China

    Dun Mao, Yue Zhang, Jundong Wu & Yawu Wang

  2. Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems, Wuhan, 430074, China

    Dun Mao, Yue Zhang, Jundong Wu & Yawu Wang

  3. Engineering Research Center of Intelligent Technology for Geo-Exploration, Ministry of Education, Wuhan, 430074, China

    Dun Mao, Yue Zhang, Jundong Wu & Yawu Wang

Authors
  1. Dun Mao
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  2. Yue Zhang
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  3. Jundong Wu
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  4. Yawu Wang
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Corresponding author

Correspondence to Yawu Wang .

Editor information

Editors and Affiliations

  1. Zhejiang University, Hangzhou, China

    Huayong Yang

  2. Harbin Institute of Technology, Shenzhen, China

    Honghai Liu

  3. Zhejiang University, Hangzhou, China

    Jun Zou

  4. Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

  5. Shenyang Institute of Automation, Shenyang, Liaoning, China

    Lianqing Liu

  6. Zhejiang University, Hangzhou, China

    Geng Yang

  7. Zhejiang University, Hangzhou, China

    Xiaoping Ouyang

  8. Harbin Institute of Technology, Shenzhen, China

    Zhiyong Wang

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© 2023 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

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Cite this paper

Mao, D., Zhang, Y., Wu, J., Wang, Y. (2023). Model-free Adaptive Control of Dielectric Elastomer Actuator. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14270. Springer, Singapore. https://doi.org/10.1007/978-981-99-6492-5_12

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  • DOI: https://doi.org/10.1007/978-981-99-6492-5_12

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-99-6491-8

  • Online ISBN: 978-981-99-6492-5

  • eBook Packages: Computer ScienceComputer Science (R0)

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