A Generalized Motion Control Framework of Dielectric Elastomer Actuators: Dynamic Modeling, Sliding-Mode Control and Experimental Evaluation

Zou Jiang,Kassim Shakiru Olajide, Ren Jieji,Vaziri Vahid, Aphale Sumeet S.,Gu Guoying

ICRA 2024（2024）

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摘要

The continuous electromechanical deformation of dielectric elastomer actuators (DEAs) suffers from rate-dependent viscoelasticity, mechanical vibration and configuration dependency, making the generalized dynamic modeling and precise control elusive. In this work,

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关键词

Modeling, Control, and Learning for Soft Robots,Soft Sensors and Actuators,Motion Control,Dielectric elastomer actuators

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