Abstract
The smart actuators are rapidly developing in the recent years. Dielectric Electroactive Polymer actuators are very important smart actuators due to their features like softness, high force ratio, fast operation and silence. In recent year a set of dynamic models for DEAP actuators have been developed by various authors. Relying on these models it is possible to design an wide range of feedback controllers. In our work, we develop the indirect adaptive controller for Dielectric Electroactive Polymer actuator exploiting the multiple models approach with second layer adaptation. The results presented in this paper prove that in the case of piecewise continuous parameters, the benefits of second level adaptation can be lost. To solve this problem, a new resetting algorithm is proposed. The efficiency of the proposed control method is verified by a simulation on a simple motivation example and DEAP actuator model.
Highlights
Smart materials are currently very perspective types of materials which actuate on different stimuli [1]
In our approach we study the design of an adaptive controller
In our work we consider an adaptive controller for Dielectric Electroactive Polymer (DEAP) actuator
Summary
Smart materials are currently very perspective types of materials which actuate on different stimuli [1]. This problem was solved in work [22] by applying an adaptive controller with second level adaptation This solution was further studied for nonlinear system with linear parametrization [23], fractional system [24], observer design [25], [26] and artificial intelligence [27], [28]. The extension of this technique was proposed in work [29] with second level adaptation based on error integration. This section highlights the performance improvement caused by the resetting algorithm
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