Chattering-Free Sliding-Mode Control of a Soft Actuator for Precise Tracking Performance

Shakiru Olajide Kassim; James D. Maclean; Vahid Vaziri; Sumeet S. Aphale

doi:10.1109/ICARM58088.2023.10218921

Chattering-Free Sliding-Mode Control of a Soft Actuator for Precise Tracking Performance

Shakiru Olajide Kassim, James D. Maclean, Vahid Vaziri, Sumeet S. Aphale

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

Abstract

The increasing wide popularity of Electro-Adhension actuation through Dielectric Elastomer is credited to their suitability in several bio-inspired applications such as flexible prosthetics, humanoid grasps, bio-mimicking robots etc. Virtually all DEAs suffer from precise positioning challenges due to their inherent strong nonlinear dynamics, namely: creep and hysteresis. As a consequence, there is a necessity to establish control-enabling DEA models and accompanying control strategies that eliminate these undesirable dynamics and allow for precise reference tracking. In this paper, an experimentally validated DEA model is employed to design a simple yet well-performing control strategy based on the Sliding Mode Control (SMC) philosophy. To further enhance the control performance and improve implementability, a technique to eliminate the inherent control input chattering present in typical SMC designs is also described. Extensive closed-loop simulations are performed, and tracking performances are quantified to justify the designed superiority of the control scheme performance.

Original language	English
Title of host publication	2023 8th IEEE International Conference on Advanced Robotics and Mechatronics
Subtitle of host publication	ICARM 2023
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	348-353
Number of pages	6
ISBN (Electronic)	9798350300178, 979-8-3503-0016-1
ISBN (Print)	979-8-3503-0018-5
DOIs	https://doi.org/10.1109/ICARM58088.2023.10218921
Publication status	Published - 25 Aug 2023
Event	8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023 - Sanya, China Duration: 8 Jul 2023 → 10 Jul 2023

Conference

Conference	8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023
Country/Territory	China
City	Sanya
Period	8/07/23 → 10/07/23

Bibliographical note

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

Access to Document

10.1109/ICARM58088.2023.10218921Licence: Unspecified

Cite this

Chattering-Free Sliding-Mode Control of a Soft Actuator for Precise Tracking Performance. / Kassim, Shakiru Olajide; Maclean, James D.; Vaziri, Vahid et al.
2023 8th IEEE International Conference on Advanced Robotics and Mechatronics: ICARM 2023. Institute of Electrical and Electronics Engineers Inc., 2023. p. 348-353.

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

Kassim, SO, Maclean, JD, Vaziri, V & Aphale, SS 2023, Chattering-Free Sliding-Mode Control of a Soft Actuator for Precise Tracking Performance. in 2023 8th IEEE International Conference on Advanced Robotics and Mechatronics: ICARM 2023. Institute of Electrical and Electronics Engineers Inc., pp. 348-353, 8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023, Sanya, China, 8/07/23. https://doi.org/10.1109/ICARM58088.2023.10218921

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abstract = "The increasing wide popularity of Electro-Adhension actuation through Dielectric Elastomer is credited to their suitability in several bio-inspired applications such as flexible prosthetics, humanoid grasps, bio-mimicking robots etc. Virtually all DEAs suffer from precise positioning challenges due to their inherent strong nonlinear dynamics, namely: creep and hysteresis. As a consequence, there is a necessity to establish control-enabling DEA models and accompanying control strategies that eliminate these undesirable dynamics and allow for precise reference tracking. In this paper, an experimentally validated DEA model is employed to design a simple yet well-performing control strategy based on the Sliding Mode Control (SMC) philosophy. To further enhance the control performance and improve implementability, a technique to eliminate the inherent control input chattering present in typical SMC designs is also described. Extensive closed-loop simulations are performed, and tracking performances are quantified to justify the designed superiority of the control scheme performance.",

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N2 - The increasing wide popularity of Electro-Adhension actuation through Dielectric Elastomer is credited to their suitability in several bio-inspired applications such as flexible prosthetics, humanoid grasps, bio-mimicking robots etc. Virtually all DEAs suffer from precise positioning challenges due to their inherent strong nonlinear dynamics, namely: creep and hysteresis. As a consequence, there is a necessity to establish control-enabling DEA models and accompanying control strategies that eliminate these undesirable dynamics and allow for precise reference tracking. In this paper, an experimentally validated DEA model is employed to design a simple yet well-performing control strategy based on the Sliding Mode Control (SMC) philosophy. To further enhance the control performance and improve implementability, a technique to eliminate the inherent control input chattering present in typical SMC designs is also described. Extensive closed-loop simulations are performed, and tracking performances are quantified to justify the designed superiority of the control scheme performance.

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Chattering-Free Sliding-Mode Control of a Soft Actuator for Precise Tracking Performance

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