Robust Position Control of Dielectric Elastomer Actuators Based on LMI Optimization
This paper develops a model-based control strategy for a bistable positioning system based on a dielectric elastomer. The motion is generated by the electrostatic compressive force between two compliant electrodes applied on the surface of the elastomer. The membrane is connected to a bistable sprin...
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| Veröffentlicht in: | IEEE transactions on control systems technology 2016-11, Vol.24 (6), p.1909-1921 |
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| container_title | IEEE transactions on control systems technology |
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| creator | Rizzello, Gianluca Naso, David Turchiano, Biagio Seelecke, Stefan |
| description | This paper develops a model-based control strategy for a bistable positioning system based on a dielectric elastomer. The motion is generated by the electrostatic compressive force between two compliant electrodes applied on the surface of the elastomer. The membrane is connected to a bistable spring that acts as a biasing element and significantly extends the possible stroke. Such a design choice, however, makes the system strongly nonlinear and unstable in open-loop. Starting from the extension of a dynamic model developed for a simpler version of the actuator, this paper proposes a strategy based on robust control design tools for linear parameter-varying systems. The approach guarantees both stability and worst case performance in the whole operating range of the system. Both simulations and experiments are used to assess the advantages of the proposed design method. |
| doi_str_mv | 10.1109/TCST.2016.2519839 |
| format | Article |
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The motion is generated by the electrostatic compressive force between two compliant electrodes applied on the surface of the elastomer. The membrane is connected to a bistable spring that acts as a biasing element and significantly extends the possible stroke. Such a design choice, however, makes the system strongly nonlinear and unstable in open-loop. Starting from the extension of a dynamic model developed for a simpler version of the actuator, this paper proposes a strategy based on robust control design tools for linear parameter-varying systems. The approach guarantees both stability and worst case performance in the whole operating range of the system. 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(IEEE) 2016</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c359t-2e3ea7cb616a4518c5ebc7c786fbaa61ee09162256f5b2c572be58cf3fba97723</citedby><cites>FETCH-LOGICAL-c359t-2e3ea7cb616a4518c5ebc7c786fbaa61ee09162256f5b2c572be58cf3fba97723</cites></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/7407332$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>314,780,784,796,27924,27925,54758</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/7407332$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc></links><search><creatorcontrib>Rizzello, Gianluca</creatorcontrib><creatorcontrib>Naso, David</creatorcontrib><creatorcontrib>Turchiano, Biagio</creatorcontrib><creatorcontrib>Seelecke, Stefan</creatorcontrib><title>Robust Position Control of Dielectric Elastomer Actuators Based on LMI Optimization</title><title>IEEE transactions on control systems technology</title><addtitle>TCST</addtitle><description>This paper develops a model-based control strategy for a bistable positioning system based on a dielectric elastomer. The motion is generated by the electrostatic compressive force between two compliant electrodes applied on the surface of the elastomer. The membrane is connected to a bistable spring that acts as a biasing element and significantly extends the possible stroke. Such a design choice, however, makes the system strongly nonlinear and unstable in open-loop. Starting from the extension of a dynamic model developed for a simpler version of the actuator, this paper proposes a strategy based on robust control design tools for linear parameter-varying systems. The approach guarantees both stability and worst case performance in the whole operating range of the system. Both simulations and experiments are used to assess the advantages of the proposed design method.</description><subject>Dielectric elastomers (DEs)</subject><subject>dielectric electroactive polymers</subject><subject>Linear matrix inequalities</subject><subject>linear matrix inequality (LMI)</subject><subject>linear parameter varying (LPV)</subject><subject>Mechatronics</subject><subject>Polymers</subject><subject>Position control</subject><subject>precision motion control</subject><subject>Product design</subject><subject>Robust control</subject><issn>1063-6536</issn><issn>1558-0865</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2016</creationdate><recordtype>article</recordtype><sourceid>RIE</sourceid><recordid>eNo9kMFKAzEQhoMoWKsPIF4CnrdmkibZPda1aqFSsfUcsnEWtmybmmQP-vTu0uJpBub__oGPkFtgEwBWPGzK9WbCGagJl1DkojgjI5Ayz1iu5Hm_MyUyJYW6JFcxbhmDqeR6RNYfvupiou8-Nqnxe1r6fQq-pb6mTw226FJoHJ23Nia_w0BnLnU2-RDpo434RXtk-bagq0Nqds2vHTquyUVt24g3pzkmn8_zTfmaLVcvi3K2zJyQRco4CrTaVQqUnUrIncTKaadzVVfWKkBkBSjOpaplxZ3UvEKZu1r050JrLsbk_th7CP67w5jM1ndh3780kAtgPQmiT8Ex5YKPMWBtDqHZ2fBjgJnBnRncmcGdObnrmbsj0yDif15PmRaCiz_3amsQ</recordid><startdate>201611</startdate><enddate>201611</enddate><creator>Rizzello, Gianluca</creator><creator>Naso, David</creator><creator>Turchiano, Biagio</creator><creator>Seelecke, Stefan</creator><general>IEEE</general><general>The Institute of Electrical and Electronics Engineers, Inc. (IEEE)</general><scope>97E</scope><scope>RIA</scope><scope>RIE</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>7SP</scope><scope>7TB</scope><scope>8FD</scope><scope>FR3</scope><scope>L7M</scope></search><sort><creationdate>201611</creationdate><title>Robust Position Control of Dielectric Elastomer Actuators Based on LMI Optimization</title><author>Rizzello, Gianluca ; Naso, David ; Turchiano, Biagio ; Seelecke, Stefan</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c359t-2e3ea7cb616a4518c5ebc7c786fbaa61ee09162256f5b2c572be58cf3fba97723</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2016</creationdate><topic>Dielectric elastomers (DEs)</topic><topic>dielectric electroactive polymers</topic><topic>Linear matrix inequalities</topic><topic>linear matrix inequality (LMI)</topic><topic>linear parameter varying (LPV)</topic><topic>Mechatronics</topic><topic>Polymers</topic><topic>Position control</topic><topic>precision motion control</topic><topic>Product design</topic><topic>Robust control</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Rizzello, Gianluca</creatorcontrib><creatorcontrib>Naso, David</creatorcontrib><creatorcontrib>Turchiano, Biagio</creatorcontrib><creatorcontrib>Seelecke, Stefan</creatorcontrib><collection>IEEE All-Society Periodicals Package (ASPP) 2005-present</collection><collection>IEEE All-Society Periodicals Package (ASPP) 1998-Present</collection><collection>IEEE Electronic Library (IEL)</collection><collection>CrossRef</collection><collection>Electronics & Communications Abstracts</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>Engineering Research Database</collection><collection>Advanced Technologies Database with Aerospace</collection><jtitle>IEEE transactions on control systems technology</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Rizzello, Gianluca</au><au>Naso, David</au><au>Turchiano, Biagio</au><au>Seelecke, Stefan</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Robust Position Control of Dielectric Elastomer Actuators Based on LMI Optimization</atitle><jtitle>IEEE transactions on control systems technology</jtitle><stitle>TCST</stitle><date>2016-11</date><risdate>2016</risdate><volume>24</volume><issue>6</issue><spage>1909</spage><epage>1921</epage><pages>1909-1921</pages><issn>1063-6536</issn><eissn>1558-0865</eissn><coden>IETTE2</coden><abstract>This paper develops a model-based control strategy for a bistable positioning system based on a dielectric elastomer. The motion is generated by the electrostatic compressive force between two compliant electrodes applied on the surface of the elastomer. The membrane is connected to a bistable spring that acts as a biasing element and significantly extends the possible stroke. Such a design choice, however, makes the system strongly nonlinear and unstable in open-loop. Starting from the extension of a dynamic model developed for a simpler version of the actuator, this paper proposes a strategy based on robust control design tools for linear parameter-varying systems. The approach guarantees both stability and worst case performance in the whole operating range of the system. Both simulations and experiments are used to assess the advantages of the proposed design method.</abstract><cop>New York</cop><pub>IEEE</pub><doi>10.1109/TCST.2016.2519839</doi><tpages>13</tpages></addata></record> |
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| subjects | Dielectric elastomers (DEs) dielectric electroactive polymers Linear matrix inequalities linear matrix inequality (LMI) linear parameter varying (LPV) Mechatronics Polymers Position control precision motion control Product design Robust control |
| title | Robust Position Control of Dielectric Elastomer Actuators Based on LMI Optimization |
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