Feedforward deformation control of a dielectric elastomer actuator based on a nonlinear dynamic model

摘要

In the practical applications of actuators, the control of their deformation or driving force is a key issue. Most of recent studies on dielectric elastomer actuators (DEAs) focus on issues of mechanics, physics, and material science, whereas less importance is given to the control of these soft actuators. In this paper, we underline the importance of a nonlinear dynamic model as the basis for a feedforward deformation control approach of a rubber-based DEA. Experimental evidence shows the effectiveness of the feedforward controller. The present study confirms that a DEA's trajectory can be finely controlled with a solid nonlinear dynamic model despite the presence of material nonlinearities and electromechanical coupling. The effective control of DEAs may pave the way for extensive emerging applications to soft robots.