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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

Scientific discipline (Law 2.0)

[2.2] Automation, electronics and electrical engineering

Year of publication


Chapter type

chapter in monograph / paper

Publication language


  • 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.

Pages (from - to)

416 - 422




IEEE CIS International Conference on Fuzzy Systems 2021, Virtual Conference, July 11th-14th 2021

Presented on

IEEE International Conference on Fuzzy Systems, 11-14.07.2021

Ministry points / chapter


Ministry points / conference (CORE)


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