Actuators based on Dielectric Elastomers (DE) are a promising technology for robotic and mechatronic applications. In order to increase the actuator available thrust, multiple layers of elastomer films can be connected in parallel to a single frame to form a Multilayer DE Actuator (MDEA). In this paper a novel control strategy is proposed for regulating the MDEA’s position. The control algorithm is composed of a hybrid combination of artificial neural networks and a switching self-tuning adaptive PID controller.
Control of multilayer dielectric elastomer actuators
BERSELLI, GIOVANNI;
2009-01-01
Abstract
Actuators based on Dielectric Elastomers (DE) are a promising technology for robotic and mechatronic applications. In order to increase the actuator available thrust, multiple layers of elastomer films can be connected in parallel to a single frame to form a Multilayer DE Actuator (MDEA). In this paper a novel control strategy is proposed for regulating the MDEA’s position. The control algorithm is composed of a hybrid combination of artificial neural networks and a switching self-tuning adaptive PID controller.
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