Robust Interaction Control of a Dielectric Elastomer Actuator With Variable Stiffness

Rizzello, Gianluca; Ferrante, Francesco; Naso, David; Seelecke, Stefan

doi:10.1109/tmech.2017.2713832

Cited by 17 publications

(10 citation statements)

References 29 publications

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“…The results show that the controller can compensate for the hysteresis of the dielectric elastomer actuator [36]. G. Rizzello et al proposed a controller based on the robust control theory and linear matrix inequalities, which permits one to arbitrarily shape the stiffness of the estimator while providing robust stability and performance with respect to model nonlinearities [37]. Zhenyu Shi et al presented a newly designed SMA actuator controlled by a combination of self-sensing feedback and compact SSMA-sensing feedback, and accurate and stable motion control is demonstrated [38].…”

Section: Establishment Of Position Control Simulation Modelmentioning

confidence: 99%

Modeling and Position Control Simulation Research on Shape Memory Alloy Spring Actuator

Feng-chen

Mao

et al. 2022

Micromachines

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The shape memory alloy (SMA) actuator is widely used in aerospace, medical and robot fields because of its advantages of low driving voltage, large driving force, no noise and high-power–weight ratio. Therefore, it is of great significance to establish the theoretical model of the SMA actuator and analyze the driving characteristics of the SMA actuator. On the basis of summarizing the constitutive model of the shape memory alloy spring, the phase transformation dynamics model of SMA including the minor hysteresis loop is established using the Duhem model in this paper, and the theoretical models of the bias and differential SMA spring actuator are established. At the same time, a PID position controller including anti-saturation and anti-overheating functions is proposed to control the position of the SMA actuator. Finally, the position control simulation model of the SMA spring actuator is established and simulated. Simulation results show that the position of the SMA actuator can be well controlled by using the model and control method established in this paper.

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Section: Establishment Of Position Control Simulation Modelmentioning

confidence: 99%

Modeling and Position Control Simulation Research on Shape Memory Alloy Spring Actuator

Feng-chen

Mao

et al. 2022

Micromachines

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“…The block Robot Structure describes the model of the robot itself (i.e., the combined flexible backbone and spacers). Since those model are generally obtained via Newtonian or Euler-Lagrange approaches, their causal representation normally comes in the form of a mechanical admittance (force-input, velocity-output) [17], [18], [19], [20]. To implement actuation, the structure needs to be coupled with a model of the SMA Wires.…”

Section: Motivation: Sma Wire Driven Flexible Robotsmentioning

confidence: 99%

A Hybrid Dynamical Modeling Framework for Shape Memory Alloy Wire Actuated Structures

Mandolino¹,

Ferrante²,

Rizzello³

2021

Preprint

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In this paper, a hybrid model for single-crystal Shape Memory Alloy (SMA) wire actuators is presented. The result is based on a mathematical reformulation of the M üller-Achenbach-Seelecke (MAS) model, which provides an accurate and interconnection-oriented description of the SMA hysteretic response. The strong nonlinearity and high numerical stiffness of the MAS model, however, hinder its practical use for simulation and control of complex SMA-driven systems. The main idea behind the hybrid reformulation is based on dividing the mechanical hysteresis of the SMA into five operating modes, each one representing a different physical state of the material. By properly deriving the switching conditions among those modes in a physically-consistent way, the MAS model is effectively reformulated within a hybrid dynamical setting. The main advantage of the hybrid reformulation is the possibility of describing the material dynamics with a simplified set of state equations while maintaining all benefits of the physicsbased description offered by the MAS model After describing the novel approach, simulation studies are conducted on a flexible robotic module actuated by protagonist-antagonist SMA wires. Through comparative numerical analysis, it is shown how the hybrid model provides the same accuracy as the MAS model while saving up to 80% of the simulation time. Moreover, the new modeling framework opens up the possibility of addressing SMA control from a hybrid systems perspective.

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“…Literature on qLPV systems can be found in Refs. [25][26][27][28][29][30][31][32][33], just to mention a few.…”

Section: Introductionmentioning

confidence: 99%

A Review of Convex Approaches for Control, Observation and Safety of Linear Parameter Varying and Takagi-Sugeno Systems

2019

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This paper provides a review about the concept of convex systems based on Takagi-Sugeno, linear parameter varying (LPV) and quasi-LPV modeling. These paradigms are capable of hiding the nonlinearities by means of an equivalent description which uses a set of linear models interpolated by appropriately defined weighing functions. Convex systems have become very popular since they allow applying extended linear techniques based on linear matrix inequalities (LMIs) to complex nonlinear systems. This survey aims at providing the reader with a significant overview of the existing LMI-based techniques for convex systems in the fields of control, observation and safety. Firstly, a detailed review of stability, feedback, tracking and model predictive control (MPC) convex controllers is considered. Secondly, the problem of state estimation is addressed through the design of proportional, proportional-integral, unknown input and descriptor observers. Finally, safety of convex systems is discussed by describing popular techniques for fault diagnosis and fault tolerant control (FTC).

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Robust Interaction Control of a Dielectric Elastomer Actuator With Variable Stiffness

Cited by 17 publications

References 29 publications

Modeling and Position Control Simulation Research on Shape Memory Alloy Spring Actuator

Modeling and Position Control Simulation Research on Shape Memory Alloy Spring Actuator

A Hybrid Dynamical Modeling Framework for Shape Memory Alloy Wire Actuated Structures

A Review of Convex Approaches for Control, Observation and Safety of Linear Parameter Varying and Takagi-Sugeno Systems

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