Soft robot active disturbance rejection control method based on dielectric elastomer actuator

Abstract

The invention discloses a soft robot active disturbance rejection control method based on a dielectric elastomer actuator. The method comprises steps that firstly, a dynamic control model of the dielectric elastomer actuator is established in a virtual work simulation mode; secondly, an extended state observer is designed to obtain the unknown system dynamic information and the state quantity of the dielectric elastomer actuator, and the unknown system dynamic information and the state quantity are taken as alternative quantities to use in the control process; a state tracking error signal iscalculated by utilizing difference between the current state quantity and a designed state expected value, and a state tracking error signal is fed back to the dielectric elastomer actuator by utilizing a designed state error feedback controller, so a control target of the software robot is realized when the state tracking error is converged to zero. The method is advantaged in that the control strategy of the dielectric elastomer actuator does not need to depend on an accurate dynamic control model of the dielectric elastomer actuator, so the requirement of an input signal of a control systemis reduced, and robustness and self-adaptability of the software robot control system based on the dielectric elastomer actuator are enhanced.

Description

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AI Technical Summary

Benefits of technology

This patented technology describes how a new type of material called ferroelectric polymers (FEP) was developed with potential applications in electronic devices such as sensors or displays. These materials are able to change their shape under external stimuli like pressure changes caused by touching them. By measuring these deformations accurately, researchers were able to predict what kind of damage they could cause beforehand during manufacture. They also found out if there had been any other things happening afterwards without being aware of this phenomenon until afterward. Overall, this innovation made possible better ways to design robots that actively avoid interference issues while still maintaining good performance over time.

Problems solved by technology

Technologies aim at developing a controlled machine called DEMACs(Dielectrode Electromagnetic Interfaces), specifically relating to how electric motile machines behave differently depending upon their environment. These techniques involve studying changes made over time due to external factors like temperature fluctuate, humidity change, stress waves, and vibrational modes generated through piezoelectrification processes. To address issues related to predictability, reliably implementing feedback algorithms, including closed loop control laws and finite element analysis simulations, we propose a solution involving solving equations describing the behavior of a specific type of dieelectical elastic membrane actuator undergoing plasma compression when subjected to constant voltages.

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