27 March 2018 Adaptive sliding mode impedance and position control for dielectric elastomer transducers
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Abstract
Dielectric Elastomer (DE) stack-transducers enable high force densities and considerable deformations since they consist almost only of active material. Within this contribution a transducer system comprising a DE stacktransducer and a bidirectional fly back converter as efficient power supply is considered. Based on an analytical model of this system an impedance and position controller is designed. Using this model, the transducer force can be determined with the measured driving voltage and deformation so that an explicit force measurement is not required. Due to the characteristics of the control plant the sliding mode control design is applied here. Adaptations of the controller ensure both high dynamics and accuracy with significantly reduced switching frequencies. Finally, the control is experimentally validated with different scenarios for exemplary applications using a prototypic bidirectional fly back converter and automatically manufactured DE stack-transducer.
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Thorben Hoffstadt, Thorben Hoffstadt, Jürgen Maas, Jürgen Maas, } "Adaptive sliding mode impedance and position control for dielectric elastomer transducers", Proc. SPIE 10594, Electroactive Polymer Actuators and Devices (EAPAD) XX, 105940Y (27 March 2018); doi: 10.1117/12.2301245; https://doi.org/10.1117/12.2301245
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