TY - GEN
T1 - Adaptive sliding mode control with linear matrix inequality based on a DEAP flexible actuator
AU - Li, Mengmeng
AU - Qiu, Dehui
AU - Li, Yuan
AU - Wang, Qinglin
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/7/12
Y1 - 2017/7/12
N2 - To address the problem of an actuated system based on the Dielectric Electro-active Polymer (DEAP) material with strong hysteresis, the nonlinearity and uncertainty, this paper proposes a linear matrix inequality (LMI) algorithm to design an adaptive sliding mode controller for DEAP flexible actuators. For this method, an inverse compensation operator of a Prandtl-Ishlinskii (P-I) model is applied to mitigate the hysteresis effect of DEAP materials. Then, the LMI algorithm is utilized to optimize the sliding mode surface and combined with a general adaptive sliding mode control for designing a DEAP system controller. A comparison of the simulation results indicates that the control method makes the system have better adaptability (or tracking reference) and stronger global robustness, can overcome the uncertainty disturbance of the external environment, and the chattering phenomenon of the system has been effectively eliminated at the same time.
AB - To address the problem of an actuated system based on the Dielectric Electro-active Polymer (DEAP) material with strong hysteresis, the nonlinearity and uncertainty, this paper proposes a linear matrix inequality (LMI) algorithm to design an adaptive sliding mode controller for DEAP flexible actuators. For this method, an inverse compensation operator of a Prandtl-Ishlinskii (P-I) model is applied to mitigate the hysteresis effect of DEAP materials. Then, the LMI algorithm is utilized to optimize the sliding mode surface and combined with a general adaptive sliding mode control for designing a DEAP system controller. A comparison of the simulation results indicates that the control method makes the system have better adaptability (or tracking reference) and stronger global robustness, can overcome the uncertainty disturbance of the external environment, and the chattering phenomenon of the system has been effectively eliminated at the same time.
KW - Adaptive sliding mode control
KW - DEAP
KW - Hysteresis
KW - Linear matrix inequality (LMI)
KW - Prandtl-Ishlinskii model
UR - http://www.scopus.com/inward/record.url?scp=85028048467&partnerID=8YFLogxK
U2 - 10.1109/CCDC.2017.7979440
DO - 10.1109/CCDC.2017.7979440
M3 - Conference contribution
AN - SCOPUS:85028048467
T3 - Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017
SP - 5305
EP - 5310
BT - Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 29th Chinese Control and Decision Conference, CCDC 2017
Y2 - 28 May 2017 through 30 May 2017
ER -