PI-funnel and inverse hysteresis compensation cascade control of smart soft dielectric elastomer actuator  

作　　者：Peng Huang Yawu Wang Yue Zhang Jundong Wu Chun-Yi Su 

机构地区：[1]School of Automation,China University of Geosciences,Wuhan,430074,Hubei,China [2]Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems,Wuhan,430074,Hubei,China [3]Engineering Research Center of Intelligent Technology for Geo-Exploration,Ministry of Education,Wuhan,430074,Hubei,China [4]Gina Cody School of Engineering and Computer Science,Concordia University,Montreal,QC,H3G 1M8,Canada

出　　处：《Control Theory and Technology》2024年第4期552-567,共16页控制理论与技术（英文版）

基　　金：supported by the National Natural Science Foundation of China(No.62273316);the 111 project(No.B17040)and the Program of China Scholarship Council(No.202206410064).

摘　　要：Smart soft dielectric elastomer actuators(SSDEAs)possess wide applications in soft robotics due to their properties similar to natural muscles,including large deformation ratio,high energy density,and fast response speed.However,the complicated asymmetric and rate-dependent hysteresis property,creep property and quadratic input property of the SSDEA pose enormous challenges to its dynamic modeling and motion control.In this paper,first,we construct the dynamic model of the SSDEA by connecting a square module,a one-sided Prandtl–Ishlinskii(OSPI)model and a linear system in series to describe the above properties.The key and innovative aspect of the dynamic modeling lies in cascading the square module in series with the OSPI model to construct the asymmetric hysteresis model.Subsequently,a PI-funnel and inverse hysteresis compensation(PIFIHC)cascade control method of the SSDEA is proposed to actualize its tracking control objective.By performing the inversion operation on the asymmetric hysteresis model,the inverse hysteresis compensation controller(IHCC)is designed to compensate the asymmetric hysteresis property and quadratic input property of the SSDEA.In addition,a PI-funnel controller is designed to cascade with the IHCC to construct the PIFIHC cascade controller to obtain a good tracking performance.Then,the stability analysis of the PIFIHC cascade control system of the SSDEA is performed to theoretically prove that the tracking error can be controlled within the performance funnel and the steady-state error converges to zero.Finally,several practical tracking control experiments of the SSDEA are conducted,and RRMSEs are less than 2.30%for all experiments.These experimental results indicate the effectiveness and feasibility of the proposed PIFIHC cascade control method of the SSDEA.

关 键 词：Smart soft dielectric elastomer actuator Dynamic modeling Inverse hysteresis compensation controller PI-funnel controller Cascade controller 

分 类 号：TP20[自动化与计算机技术—检测技术与自动化装置]