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Modeling and Discrete-Time Terminal Sliding Mode Control of a DEAP Actuator with Rate-Dependent Hysteresis Nonlinearity

School of Automation, Beijing Institute of Technology, Beijing 100081, China
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Author to whom correspondence should be addressed.
Appl. Sci. 2019, 9(13), 2625; https://doi.org/10.3390/app9132625
Received: 28 April 2019 / Revised: 11 June 2019 / Accepted: 25 June 2019 / Published: 28 June 2019
(This article belongs to the Special Issue The Application of Sliding Mode Control in Robots)
Dielectric electro-active polymer (DEAP) materials, also called artificial muscle, are a kind of EAP smart materials with extraordinary strains up to 30% at a high driving voltage. However, the asymmetric rate-dependent hysteresis is a barrier for trajectory tracking control of DEAP actuators. To overcome the barrier, in this paper, a Hammerstein model is established for the asymmetric rate-dependent hysteresis of a DEAP actuator first, in which a modified Prandtl-Ishlinskii (MPI) model is used to represent the static hysteresis nonlinear part, and an autoregressive with exogenous inputs (ARX) model is used to represent the linear dynamic part. Applying Levenberg-Marquardt (LM) algorithm identifies the parameters of the Hammerstein model. Then, based on the MPI model, an inverse hysteresis compensator is obtained to compensate the hysteresis behavior. Finally, a compound controller consisting of the hysteresis compensator and a novel discrete-time terminal sliding mode controller (DTSMC) without state observer is proposed to achieve the high-precision trajectory tracking control. Stability analysis of the closed-loop system is verified by using Lyapunov stability theorem. Experimental results based on a DEAP actuator show that the proposed controller has better tracking control performance compared with a conventional discrete-time sliding mode controller (DSMC). View Full-Text
Keywords: dielectric electro-active polymer actuator; modified Prandtl-Ishlinskii model; autoregressive with exogenous inputs model; discrete-time terminal sliding mode controller dielectric electro-active polymer actuator; modified Prandtl-Ishlinskii model; autoregressive with exogenous inputs model; discrete-time terminal sliding mode controller
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Li, M.; Wang, Q.; Li, Y.; Jiang, Z. Modeling and Discrete-Time Terminal Sliding Mode Control of a DEAP Actuator with Rate-Dependent Hysteresis Nonlinearity. Appl. Sci. 2019, 9, 2625.

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Appl. Sci., EISSN 2076-3417, Published by MDPI AG
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