Adaptive Fuzzy Controller for Dielectric Elastomer Actuator with Output Feedback
[ 1 ] Instytut Automatyki i Robotyki, Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ 2 ] Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ P ] employee | [ S ] student
2021
chapter in monograph / paper
english
- DEAP actuator
- fuzzy controller
- fuzzy observer
- nonlinear system
- LMI
- adaptive control
EN This paper presents the fuzzy model of Dielectric Elastomer Actuator with control system designed based on the fuzzy observer and state feedback loop. The control problem was solved by eliminating the model's nonlinearity and by using the methods of solving the Linear Matrix Inequalities problem. Moreover, the system was expanded with algorithm, which provides adaptation to compensate model uncertainty. The mathematical implementation of mentioned solutions was also presented, and then simulations were made to show the obtained results in comparison with the known solutions. The simulations cover different system configurations for the variant with and without the adaptation algorithm.
416 - 422
20
140