Adaptive Observer for State and Load Force Estimation for Dielectric Electro-Active Polymer Actuator

Abstract

This paper presents a nonlinear electric circuit model of the circular DEAP membrane actuator model coupled with a viscoelastic mechanical phenomena. A parameters of the model are found by parameter identification process and then an adaptive observer to estimate the real load force is applied. The authors developed an adaptive observer for state affine system for the case without knowledge of the load mass of DEAP membrane. The results are compared with experiments obtaining a good agreement.