Adaptive Controller with Output Feedback for Dielectric Electro-Active Polymer Actuator

Abstract

In this work, an adaptive controller with output feedback was used in order to solve the position control of a nonlinear actuator built with a Dielectric Electro-Active Polymer (DEAP). The authors present the modeling process of the device taking into account the nonlinear model and its linearization. The identification process was carried out and the results were compared with experiments with good agreement. Due to the fact that it is not possible to obtain full state of DEAP actuator, the authors applied Model Reference Adaptive Controller with output feedback were voltage is an input signal and distance is an output. This approach allows to development a control method resistant to changing the parameters of DEAP device. Presented methods have been presented with illustrative examples.