A new Sliding-Mode Control law for a Planar Dielectric Elastomer Actuator to Track wide-Band Trajectories

Shakiru Olajide Kassim; James D. MacLean; Sumeet S. Aphale

doi:10.1109/MMAR55195.2022.9874331

A new Sliding-Mode Control law for a Planar Dielectric Elastomer Actuator to Track wide-Band Trajectories

Shakiru Olajide Kassim
, James D. MacLean
, Sumeet S. Aphale

Research output: Chapter in Book/Report/Conference proceeding › Published conference contribution

3 Citations (Scopus)

Abstract

Dielectric Elastomer Actuator (DEA) based soft robots are gaining widespread recognition for numerous applications such as; medical devices, bio-inspired systems and flexible prosthetics to name but a few. Due to their nonlinearity relating mostly to hysteresis and creep, most DEAs are subject to precision positioning challenges. To enable precise positioning, control-enabling DEA models and controllers are developed to curb the issues of their nonlinear dynamics. This paper presents a new Sliding-Mode Control (SMC) based on reaching law for precise position tracking of an adopted simplified and experimentally validated DEA model. The proposed reaching law incorporates a high-slope saturation function with an exponential denominator to drastically reduce chattering and enhance fast and finite convergence. The sliding-mode controller stability is validated using a Lyapunov candidate for asymptotic stable. Finally, Closed-loop simulations demonstrating the controller's effectiveness at suppressing chattering and tracking wide-band trajectories (triangular and sinusoidal) were implemented.

Original language	English
Title of host publication	2022 26th International Conference on Methods and Models in Automation and Robotics, MMAR 2022 - Proceedings
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	442-447
Number of pages	6
ISBN (Electronic)	9781665468572, 978-1-6654-6858-9
ISBN (Print)	978-1-6654-6859-6
DOIs	https://doi.org/10.1109/MMAR55195.2022.9874331
Publication status	Published - 8 Sept 2022
Event	26th International Conference on Methods and Models in Automation and Robotics, MMAR 2022 - Virtual, Miedzyzdroje, Poland Duration: 22 Aug 2022 → 25 Aug 2022

Conference

Conference	26th International Conference on Methods and Models in Automation and Robotics, MMAR 2022
Country/Territory	Poland
City	Virtual, Miedzyzdroje
Period	22/08/22 → 25/08/22

Bibliographical note

Funding Information:
Thanks to Nigerian Petroleum Technology Development Fund (PTDF) for support (Ref. No.: PTDF/ED/OSS/PHD/SOK/052/18).

Funding

Thanks to Nigerian Petroleum Technology Development Fund (PTDF) for support (Ref. No.: PTDF/ED/OSS/PHD/SOK/052/18).

Keywords

Dielectric Elastomer Actuator
Hysteresis
Sliding-mode Control
Soft Robots

Access to Document

10.1109/MMAR55195.2022.9874331Licence: Unspecified

Cite this

Kassim, S. O., MacLean, J. D., & Aphale, S. S. (2022). A new Sliding-Mode Control law for a Planar Dielectric Elastomer Actuator to Track wide-Band Trajectories. In 2022 26th International Conference on Methods and Models in Automation and Robotics, MMAR 2022 - Proceedings (pp. 442-447). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/MMAR55195.2022.9874331

A new Sliding-Mode Control law for a Planar Dielectric Elastomer Actuator to Track wide-Band Trajectories. / Kassim, Shakiru Olajide; MacLean, James D.; Aphale, Sumeet S.
2022 26th International Conference on Methods and Models in Automation and Robotics, MMAR 2022 - Proceedings. Institute of Electrical and Electronics Engineers Inc., 2022. p. 442-447.

Research output: Chapter in Book/Report/Conference proceeding › Published conference contribution

Kassim, SO, MacLean, JD & Aphale, SS 2022, A new Sliding-Mode Control law for a Planar Dielectric Elastomer Actuator to Track wide-Band Trajectories. in 2022 26th International Conference on Methods and Models in Automation and Robotics, MMAR 2022 - Proceedings. Institute of Electrical and Electronics Engineers Inc., pp. 442-447, 26th International Conference on Methods and Models in Automation and Robotics, MMAR 2022, Virtual, Miedzyzdroje, Poland, 22/08/22. https://doi.org/10.1109/MMAR55195.2022.9874331

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abstract = "Dielectric Elastomer Actuator (DEA) based soft robots are gaining widespread recognition for numerous applications such as; medical devices, bio-inspired systems and flexible prosthetics to name but a few. Due to their nonlinearity relating mostly to hysteresis and creep, most DEAs are subject to precision positioning challenges. To enable precise positioning, control-enabling DEA models and controllers are developed to curb the issues of their nonlinear dynamics. This paper presents a new Sliding-Mode Control (SMC) based on reaching law for precise position tracking of an adopted simplified and experimentally validated DEA model. The proposed reaching law incorporates a high-slope saturation function with an exponential denominator to drastically reduce chattering and enhance fast and finite convergence. The sliding-mode controller stability is validated using a Lyapunov candidate for asymptotic stable. Finally, Closed-loop simulations demonstrating the controller's effectiveness at suppressing chattering and tracking wide-band trajectories (triangular and sinusoidal) were implemented.",

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AB - Dielectric Elastomer Actuator (DEA) based soft robots are gaining widespread recognition for numerous applications such as; medical devices, bio-inspired systems and flexible prosthetics to name but a few. Due to their nonlinearity relating mostly to hysteresis and creep, most DEAs are subject to precision positioning challenges. To enable precise positioning, control-enabling DEA models and controllers are developed to curb the issues of their nonlinear dynamics. This paper presents a new Sliding-Mode Control (SMC) based on reaching law for precise position tracking of an adopted simplified and experimentally validated DEA model. The proposed reaching law incorporates a high-slope saturation function with an exponential denominator to drastically reduce chattering and enhance fast and finite convergence. The sliding-mode controller stability is validated using a Lyapunov candidate for asymptotic stable. Finally, Closed-loop simulations demonstrating the controller's effectiveness at suppressing chattering and tracking wide-band trajectories (triangular and sinusoidal) were implemented.

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BT - 2022 26th International Conference on Methods and Models in Automation and Robotics, MMAR 2022 - Proceedings

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A new Sliding-Mode Control law for a Planar Dielectric Elastomer Actuator to Track wide-Band Trajectories

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Keywords

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