Fractional order modeling and internal model control method for dielectric elastomer actuator.
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| Title: | Fractional order modeling and internal model control method for dielectric elastomer actuator. |
|---|---|
| Authors: | Xu, Zhichao1,2,3 (AUTHOR), Wu, Jundong1,2,3 (AUTHOR), Wang, Yawu1,2,3 (AUTHOR) wangyawu@cug.edu.cn |
| Source: | Asian Journal of Control. Jan2025, Vol. 27 Issue 1, p117-127. 11p. |
| Subjects: | Integer approximations, Automation, Internal auditing, Square root, Transfer functions |
| Abstract: | The dielectric elastomer actuator (DEA) is widely used in the field of soft robots due to its large deformation, light weight, fast response, and high‐energy conversion efficiency. The high‐precision control of the DEA is the precondition for soft robots to perform complicated tasks. In early studies, researchers usually employed integer order modeling and control methods to build the dynamic model of the DEA and to achieve its tracking control. However, these methods are not good at handling the complicated memory property of the DEA. In addition, the number of required parameters in integer order models and control methods is enormous, which hinders their practical applications. To solve these problems, the fractional order modeling method and fractional order internal model control method of the DEA are proposed in this paper. Firstly, a fractional order transfer function (FOTF) model of the DEA is built to depict its complicated memory property. Then, to achieve the computer control, an integer order approximation model (IOAM) of the FOTF model is built by using the Oustaloup filter. Considering that the order of the IOAM is too high, a reduced integer order approximation model is established by using the square root balance truncation algorithm to facilitate the system controller design. Next, a fractional order internal model controller is designed. Finally, tracking control experiments are exerted to demonstrate the effectiveness of the proposed method. Since the root‐mean‐square errors of all experimental results are less than 2%, the proposed modeling method and control method are superior from the perspective of the practical application. [ABSTRACT FROM AUTHOR] |
| Copyright of Asian Journal of Control is the property of Wiley-Blackwell and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.) | |
| Database: | Engineering Source |
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| Header | DbId: egs DbLabel: Engineering Source An: 183919382 AccessLevel: 6 PubType: Academic Journal PubTypeId: academicJournal PreciseRelevancyScore: 0 |
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| Items | – Name: Title Label: Title Group: Ti Data: Fractional order modeling and internal model control method for dielectric elastomer actuator. – Name: Author Label: Authors Group: Au Data: <searchLink fieldCode="AR" term="%22Xu%2C+Zhichao%22">Xu, Zhichao</searchLink><relatesTo>1,2,3</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Wu%2C+Jundong%22">Wu, Jundong</searchLink><relatesTo>1,2,3</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Wang%2C+Yawu%22">Wang, Yawu</searchLink><relatesTo>1,2,3</relatesTo> (AUTHOR)<i> wangyawu@cug.edu.cn</i> – Name: TitleSource Label: Source Group: Src Data: <searchLink fieldCode="JN" term="%22Asian+Journal+of+Control%22">Asian Journal of Control</searchLink>. Jan2025, Vol. 27 Issue 1, p117-127. 11p. – Name: Subject Label: Subjects Group: Su Data: <searchLink fieldCode="DE" term="%22Integer+approximations%22">Integer approximations</searchLink><br /><searchLink fieldCode="DE" term="%22Automation%22">Automation</searchLink><br /><searchLink fieldCode="DE" term="%22Internal+auditing%22">Internal auditing</searchLink><br /><searchLink fieldCode="DE" term="%22Square+root%22">Square root</searchLink><br /><searchLink fieldCode="DE" term="%22Transfer+functions%22">Transfer functions</searchLink> – Name: Abstract Label: Abstract Group: Ab Data: The dielectric elastomer actuator (DEA) is widely used in the field of soft robots due to its large deformation, light weight, fast response, and high‐energy conversion efficiency. The high‐precision control of the DEA is the precondition for soft robots to perform complicated tasks. In early studies, researchers usually employed integer order modeling and control methods to build the dynamic model of the DEA and to achieve its tracking control. However, these methods are not good at handling the complicated memory property of the DEA. In addition, the number of required parameters in integer order models and control methods is enormous, which hinders their practical applications. To solve these problems, the fractional order modeling method and fractional order internal model control method of the DEA are proposed in this paper. Firstly, a fractional order transfer function (FOTF) model of the DEA is built to depict its complicated memory property. Then, to achieve the computer control, an integer order approximation model (IOAM) of the FOTF model is built by using the Oustaloup filter. Considering that the order of the IOAM is too high, a reduced integer order approximation model is established by using the square root balance truncation algorithm to facilitate the system controller design. Next, a fractional order internal model controller is designed. Finally, tracking control experiments are exerted to demonstrate the effectiveness of the proposed method. Since the root‐mean‐square errors of all experimental results are less than 2%, the proposed modeling method and control method are superior from the perspective of the practical application. [ABSTRACT FROM AUTHOR] – Name: AbstractSuppliedCopyright Label: Group: Ab Data: <i>Copyright of Asian Journal of Control is the property of Wiley-Blackwell and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.) |
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| RecordInfo | BibRecord: BibEntity: Identifiers: – Type: doi Value: 10.1002/asjc.3463 Languages: – Code: eng Text: English PhysicalDescription: Pagination: PageCount: 11 StartPage: 117 Subjects: – SubjectFull: Integer approximations Type: general – SubjectFull: Automation Type: general – SubjectFull: Internal auditing Type: general – SubjectFull: Square root Type: general – SubjectFull: Transfer functions Type: general Titles: – TitleFull: Fractional order modeling and internal model control method for dielectric elastomer actuator. Type: main BibRelationships: HasContributorRelationships: – PersonEntity: Name: NameFull: Xu, Zhichao – PersonEntity: Name: NameFull: Wu, Jundong – PersonEntity: Name: NameFull: Wang, Yawu IsPartOfRelationships: – BibEntity: Dates: – D: 01 M: 01 Text: Jan2025 Type: published Y: 2025 Identifiers: – Type: issn-print Value: 15618625 Numbering: – Type: volume Value: 27 – Type: issue Value: 1 Titles: – TitleFull: Asian Journal of Control Type: main |
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