Electromechanical model-based adaptive control of multilayered dielectric elastomer bending actuator

2021 ◽  
pp. 1-26
Author(s):  
Fanghao Zhou ◽  
Jin He ◽  
Mingqi Zhang ◽  
Youhua Xiao ◽  
Chen Zheng ◽  
...  
Keyword(s):  
Large Deformation ◽  
Control Strategy ◽  
Low Voltage ◽  
Dynamic Control ◽  
Fast Response ◽  
Dielectric Elastomer ◽  
Parameter Uncertainties ◽  
Soft Robots ◽  
Model Based ◽  
Bending Actuator

Abstract Dielectric elastomer (DE) possesses attributes such as large deformation and fast response. As a typical DE actuating structure, the multilayered DE bending actuator (MDEBA) is lightweight, and can actuate in relatively low voltage without a rigid frame and pre-stretch. These attributes arouse wide research interest in the MDEBA on the application of soft robots. However, due to its large deformation and nonlinear electromechanical dynamics, the control of MDEBA remains highly challenged. Considering the large bending deformation and gravity effect, we develop an electromechanical dynamic model-based control strategy, which can adaptively compensate for the parameter uncertainties during the actuation of MDEBA. Experimental results validate that this control strategy provides highly enhanced control performances compared to the PID controller. The electromechanical modeling method and dynamic control strategy may guide the further study of MDEBA, soft robots, and flexible devices.

Model-Based Nonlinear Control of the Dielectric Elastomer Actuator With High Robustness and Precision

2019 ◽  
Vol 86 (12) ◽  
Author(s):  
Mingqi Zhang ◽  
Xunuo Cao ◽  
Xiangping Chen ◽  
Zhen Zhang ◽  
Zheng Chen ◽  
...  
Keyword(s):  
Feedback Control ◽  
Nonlinear Model ◽  
Control Strategy ◽  
Electromechanical Coupling ◽  
Tracking Error ◽  
Soft Robots ◽  
Practical Applications ◽  
Flexible Devices ◽  
Model Based ◽  
Modeling Uncertainties

Abstract Dielectric elastomers (DEs) is one of the promising artificial muscle for soft robots and flexible devices. As one of the key issues for practical applications, the control of DE actuators remains challenging due to the large actuation, electromechanical coupling, and viscoelastic dissipation. Feedforward control and proportional integral derivative (PID) feedback control are recently studied for the control of DE actuators. The control performance is still limited due to the complex dynamic behavior of DE actuators with both nonlinearities and modeling uncertainties. This paper proposes a model-based feedback control for DE actuator, considering nonlinearity of large deformation, electromechanical coupling, and the modeling uncertainties. A nonlinear motion model is proposed and verified by parameter identification experiments. Based on the nonlinear model, we demonstrate a robust control strategy including nonlinear model compensation and robust feedback to decrease the tracking error. The experimental results verify that the control strategy possesses excellent validity to the DE actuator with improved performance compared to the previous strategy of feedforward and PID feedback control. The system design and control strategy of this paper may guide the future design and application of DE actuators, soft robots, and flexible devices.

A Quadruped Soft Robot for Climbing Parallel Rods

Robotica ◽  
2020 ◽  
pp. 1-13
Author(s):  
Nana Zhu ◽  
Hongbin Zang ◽  
Bing Liao ◽  
Huimin Qi ◽  
Zheng Yang ◽  
...  
Keyword(s):  
Body Length ◽  
High Voltage ◽  
Control Strategy ◽  
The Body ◽  
Maximum Speed ◽  
Soft Robot ◽  
Climbing Robot ◽  
Soft Robots ◽  
Bending Actuator ◽  
Moving Speed

SUMMARY Soft robots can perform effectively inspecting than rigid robots in some special environments such as nuclear pipelines and high-voltage cables. This article presents a versatile quadruped soft rod-climbing robot (SR-CR) that consists of four bending actuators and a telescopic actuator. The bending actuator is composed of flexible bellows with multiple folding air chambers, elastic telescopic layer (ETL), and strain-limiting layer (SLL). The telescopic actuator provides the energy for the robot to climb forward. The SR-CR is activated by a control strategy that alternates the body deformation and feet pneumatic clenched for stable climbing. The robot can climb rods at 90°, with the maximum speed of up to 2.33 mm/s (0.018 body length/s). At 0.83 HZ, the maximum moving speed of the robot in climbing horizontally parallel rods can reach 18.43 mm/s. In addition, the SR-CR can also achieve multiple impressive functions, including turning around a corner at a rate of 7 mm/s (0.054 body length/s), carrying a payload of 3.7 times its self-weight on horizontal rods at a speed of 9 mm/s (0.069 body length/s).

A fast response, large deformation, excellent mechanical pH-responsive polyacrylonitrile/polyimide bilayer film

Polymer ◽  
2020 ◽  
Vol 191 ◽  
pp. 122271
Author(s):  
Xu Wang ◽  
Chengyong He ◽  
Longbo Luo ◽  
Daiqiang Chen ◽  
Xiangyang Liu ◽  
...  
Keyword(s):  
Large Deformation ◽  
Fast Response ◽  
Bilayer Film ◽  
Ph Responsive

Optimal control strategy for cancer remission using combinatorial therapy: A mathematical model-based approach

2021 ◽  
Vol 145 ◽  
pp. 110789
Author(s):  
Parthasakha Das ◽  
Samhita Das ◽  
Pritha Das ◽  
Fathalla A. Rihan ◽  
Muhammet Uzuntarla ◽  
...  
Keyword(s):  
Mathematical Model ◽  
Optimal Control ◽  
Control Strategy ◽  
Optimal Control Strategy ◽  
Combinatorial Therapy ◽  
Model Based ◽  
Cancer Remission

Iterative feedback control based on frequency response model for a six-degree-of-freedom micro-vibration platform

2021 ◽  
pp. 107754632199731
Author(s):  
He Zhu ◽  
Shuai He ◽  
Zhenbang Xu ◽  
XiaoMing Wang ◽  
Chao Qin ◽  
...  
Keyword(s):  
Feedback Control ◽  
Frequency Response ◽  
Control Strategy ◽  
Degree Of Freedom ◽  
Small Displacement ◽  
Response Model ◽  
Parameter Uncertainties ◽  
Micro Vibration ◽  
Six Degree Of Freedom ◽  
Iterative Feedback

In this article, a six-degree-of-freedom (6-DOF) micro-vibration platform (6-MVP) based on the Gough–Stewart configuration is designed to reproduce the 6-DOF micro-vibration that occurs at the installation surfaces of sensitive space-based instruments such as large space optical loads and laser communications equipment. The platform’s dynamic model is simplified because of the small displacement characteristics of micro-vibrations. By considering the multifrequency line spectrum characteristics of micro-vibrations and the parameter uncertainties, an iterative feedback control strategy based on a frequency response model is designed, and the effectiveness of the proposed control strategy is verified by performing integrated simulations. Finally, micro-vibration experiments are performed with a 10 kg load on the platform. The results of these micro-vibration experiments show that after several iterations, the amplitude control errors are less than 3% and the phase control errors are less than 1°. The control strategy presented in this article offers the advantages of a simple algorithm and high precision and it can also be used to control other similar micro-vibration platforms.

scholarly journals Using Energy Storage Inverters of Prosumer Installations for Voltage Control in Low-Voltage Distribution Networks

Energies ◽  
2021 ◽  
Vol 14 (4) ◽  
pp. 1121
Author(s):  
Rozmysław Mieński ◽  
Przemysław Urbanek ◽  
Irena Wasiak
Keyword(s):  
Energy Storage ◽  
Control Strategy ◽  
Reactive Power ◽  
Low Voltage ◽  
Storage System ◽  
Distribution Networks ◽  
Energy Storage System ◽  
Voltage Regulation ◽  
Active Power ◽  
Total Power

The paper includes the analysis of the operation of low-voltage prosumer installation consisting of receivers and electricity sources and equipped with a 3-phase energy storage system. The aim of the storage application is the management of active power within the installation to decrease the total power exchanged with the supplying network and thus reduce energy costs borne by the prosumer. A solution for the effective implementation of the storage system is presented. Apart from the active power management performed according to the prosumer’s needs, the storage inverter provides the ancillary service of voltage regulation in the network according to the requirements of the network operator. A control strategy involving algorithms for voltage regulation without prejudice to the prosumer’s interest is described in the paper. Reactive power is used first as a control signal and if the required voltage effect cannot be reached, then the active power in the controlled phase is additionally changed and the Energy Storage System (ESS) loading is redistributed in phases in such a way that the total active power set by the prosumer program remains unchanged. The efficiency of the control strategy was tested by means of a simulation model in the PSCAD/EMTDC program. The results of the simulations are presented.

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