A new Sliding-Mode Control law for a Planar Dielectric Elastomer Actuator to Track wide-Band Trajectories
2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)(2022)
Abstract
Dielectric Elastomer Actuator (DEA) based soft robots are gaining widespread recognition for numerous applications such as; medical devices, bio-inspired systems and flexible prosthetics to name but a few. Due to their nonlinearity relating mostly to hysteresis and creep, most DEAs are subject to precision positioning challenges. To enable precise positioning, control-enabling DEA models and controllers are developed to curb the issues of their nonlinear dynamics. This paper presents a new Sliding-Mode Control (SMC) based on reaching law for precise position tracking of an adopted simplified and experimentally validated DEA model. The proposed reaching law incorporates a high-slope saturation function with an exponential denominator to drastically reduce chattering and enhance fast and finite convergence. The sliding-mode controller stability is validated using a Lyapunov candidate for asymptotic stable. Finally, Closed-loop simulations demonstrating the controller's effectiveness at suppressing chattering and tracking wide-band trajectories (triangular and sinusoidal) were implemented.
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Key words
Dielectric Elastomer Actuator,Soft Robots,Hysteresis,Sliding-mode Control
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