Modeling, Identification, and Control of a Dielectric Electro-Active Polymer Positioning System

This paper deals with a positioning system based on a dielectric electro-active polymer membrane. The motion is generated by the deformation of the membrane caused by the electrostatic compressive force between two compliant electrodes applied on the surface of the polymer. This paper proposes a det...
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Autor*in:	Rizzello, Gianluca [verfasserIn] Naso, David York, Alexander Seelecke, Stefan

Format:	Artikel
Sprache:	Englisch

Erschienen:	2015

Schlagwörter:	Load modeling dielectric electro-active polymer positioning system frequency-domain analysis material characteristics membranes motion generation frequency domain Springs PID design strategy smart materials sinusoidal reference signal three-term control model-based feedback control law actuator position control nonlinear behavior mechatronics Electro-active polymers (EAPs) motion control time-domain analysis feedback electrostatic compressive force dielectric electro-active polymer membrane PID controller compliant electrode time domain Stress Mathematical model deformation geometry precision motion control Actuators electro-mechanical nonlinear model electroactive polymer actuators nonlinear control systems compressive strength Polymers

Übergeordnetes Werk:	Enthalten in: IEEE transactions on control systems technology - New York, NY : IEEE, 1993, 23(2015), 2, Seite 632-643
Übergeordnetes Werk:	volume:23 ; year:2015 ; number:2 ; pages:632-643

Links:	Volltext Link aufrufen

DOI / URN:	10.1109/TCST.2014.2338356

Katalog-ID:	OLC1959559273

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520			\|a This paper deals with a positioning system based on a dielectric electro-active polymer membrane. The motion is generated by the deformation of the membrane caused by the electrostatic compressive force between two compliant electrodes applied on the surface of the polymer. This paper proposes a detailed electro-mechanical nonlinear model of the system, which is subsequently used to develop (in both time and frequency domains) various model-based feedback control laws. Accurate modeling is useful to compensate the nonlinear behavior of the actuator (caused by the material characteristics and geometry) and obtain PID controllers providing precise tracking of steps or sinusoidal reference signals. The various design strategies are compared on various experimental tests.
650		4	\|a Load modeling
650		4	\|a dielectric electro-active polymer positioning system
650		4	\|a frequency-domain analysis
650		4	\|a material characteristics
650		4	\|a membranes
650		4	\|a motion generation
650		4	\|a frequency domain
650		4	\|a Springs
650		4	\|a PID
650		4	\|a design strategy
650		4	\|a smart materials
650		4	\|a sinusoidal reference signal
650		4	\|a three-term control
650		4	\|a model-based feedback control law
650		4	\|a actuator
650		4	\|a position control
650		4	\|a nonlinear behavior
650		4	\|a mechatronics
650		4	\|a Electro-active polymers (EAPs)
650		4	\|a motion control
650		4	\|a time-domain analysis
650		4	\|a feedback
650		4	\|a electrostatic compressive force
650		4	\|a dielectric electro-active polymer membrane
650		4	\|a PID controller
650		4	\|a compliant electrode
650		4	\|a time domain
650		4	\|a Stress
650		4	\|a Mathematical model
650		4	\|a deformation
650		4	\|a geometry
650		4	\|a precision motion control
650		4	\|a Actuators
650		4	\|a electro-mechanical nonlinear model
650		4	\|a electroactive polymer actuators
650		4	\|a nonlinear control systems
650		4	\|a compressive strength
650		4	\|a Polymers
700	1		\|a Naso, David \|4 oth
700	1		\|a York, Alexander \|4 oth
700	1		\|a Seelecke, Stefan \|4 oth
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856	4	1	\|u http://dx.doi.org/10.1109/TCST.2014.2338356 \|3 Volltext
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allfields	10.1109/TCST.2014.2338356 doi PQ20160617 (DE-627)OLC1959559273 (DE-599)GBVOLC1959559273 (PRQ)c1308-d0eddfb9eb129c22c07c4714ea23365e9b030d784dd8000af30f9d5b111247f60 (KEY)0226256820150000023000200632modelingidentificationandcontrolofadielectricelect DE-627 ger DE-627 rakwb eng 004 DNB Rizzello, Gianluca verfasserin aut Modeling, Identification, and Control of a Dielectric Electro-Active Polymer Positioning System 2015 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier This paper deals with a positioning system based on a dielectric electro-active polymer membrane. The motion is generated by the deformation of the membrane caused by the electrostatic compressive force between two compliant electrodes applied on the surface of the polymer. This paper proposes a detailed electro-mechanical nonlinear model of the system, which is subsequently used to develop (in both time and frequency domains) various model-based feedback control laws. Accurate modeling is useful to compensate the nonlinear behavior of the actuator (caused by the material characteristics and geometry) and obtain PID controllers providing precise tracking of steps or sinusoidal reference signals. The various design strategies are compared on various experimental tests. Load modeling dielectric electro-active polymer positioning system frequency-domain analysis material characteristics membranes motion generation frequency domain Springs PID design strategy smart materials sinusoidal reference signal three-term control model-based feedback control law actuator position control nonlinear behavior mechatronics Electro-active polymers (EAPs) motion control time-domain analysis feedback electrostatic compressive force dielectric electro-active polymer membrane PID controller compliant electrode time domain Stress Mathematical model deformation geometry precision motion control Actuators electro-mechanical nonlinear model electroactive polymer actuators nonlinear control systems compressive strength Polymers Naso, David oth York, Alexander oth Seelecke, Stefan oth Enthalten in IEEE transactions on control systems technology New York, NY : IEEE, 1993 23(2015), 2, Seite 632-643 (DE-627)171098137 (DE-600)1151354-8 (DE-576)03420315X 1063-6536 nnns volume:23 year:2015 number:2 pages:632-643 http://dx.doi.org/10.1109/TCST.2014.2338356 Volltext http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6867294 GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-TEC SSG-OLC-MAT GBV_ILN_70 GBV_ILN_2014 GBV_ILN_2016 AR 23 2015 2 632-643
spelling	10.1109/TCST.2014.2338356 doi PQ20160617 (DE-627)OLC1959559273 (DE-599)GBVOLC1959559273 (PRQ)c1308-d0eddfb9eb129c22c07c4714ea23365e9b030d784dd8000af30f9d5b111247f60 (KEY)0226256820150000023000200632modelingidentificationandcontrolofadielectricelect DE-627 ger DE-627 rakwb eng 004 DNB Rizzello, Gianluca verfasserin aut Modeling, Identification, and Control of a Dielectric Electro-Active Polymer Positioning System 2015 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier This paper deals with a positioning system based on a dielectric electro-active polymer membrane. The motion is generated by the deformation of the membrane caused by the electrostatic compressive force between two compliant electrodes applied on the surface of the polymer. This paper proposes a detailed electro-mechanical nonlinear model of the system, which is subsequently used to develop (in both time and frequency domains) various model-based feedback control laws. Accurate modeling is useful to compensate the nonlinear behavior of the actuator (caused by the material characteristics and geometry) and obtain PID controllers providing precise tracking of steps or sinusoidal reference signals. The various design strategies are compared on various experimental tests. Load modeling dielectric electro-active polymer positioning system frequency-domain analysis material characteristics membranes motion generation frequency domain Springs PID design strategy smart materials sinusoidal reference signal three-term control model-based feedback control law actuator position control nonlinear behavior mechatronics Electro-active polymers (EAPs) motion control time-domain analysis feedback electrostatic compressive force dielectric electro-active polymer membrane PID controller compliant electrode time domain Stress Mathematical model deformation geometry precision motion control Actuators electro-mechanical nonlinear model electroactive polymer actuators nonlinear control systems compressive strength Polymers Naso, David oth York, Alexander oth Seelecke, Stefan oth Enthalten in IEEE transactions on control systems technology New York, NY : IEEE, 1993 23(2015), 2, Seite 632-643 (DE-627)171098137 (DE-600)1151354-8 (DE-576)03420315X 1063-6536 nnns volume:23 year:2015 number:2 pages:632-643 http://dx.doi.org/10.1109/TCST.2014.2338356 Volltext http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6867294 GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-TEC SSG-OLC-MAT GBV_ILN_70 GBV_ILN_2014 GBV_ILN_2016 AR 23 2015 2 632-643
allfields_unstemmed	10.1109/TCST.2014.2338356 doi PQ20160617 (DE-627)OLC1959559273 (DE-599)GBVOLC1959559273 (PRQ)c1308-d0eddfb9eb129c22c07c4714ea23365e9b030d784dd8000af30f9d5b111247f60 (KEY)0226256820150000023000200632modelingidentificationandcontrolofadielectricelect DE-627 ger DE-627 rakwb eng 004 DNB Rizzello, Gianluca verfasserin aut Modeling, Identification, and Control of a Dielectric Electro-Active Polymer Positioning System 2015 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier This paper deals with a positioning system based on a dielectric electro-active polymer membrane. The motion is generated by the deformation of the membrane caused by the electrostatic compressive force between two compliant electrodes applied on the surface of the polymer. This paper proposes a detailed electro-mechanical nonlinear model of the system, which is subsequently used to develop (in both time and frequency domains) various model-based feedback control laws. Accurate modeling is useful to compensate the nonlinear behavior of the actuator (caused by the material characteristics and geometry) and obtain PID controllers providing precise tracking of steps or sinusoidal reference signals. The various design strategies are compared on various experimental tests. Load modeling dielectric electro-active polymer positioning system frequency-domain analysis material characteristics membranes motion generation frequency domain Springs PID design strategy smart materials sinusoidal reference signal three-term control model-based feedback control law actuator position control nonlinear behavior mechatronics Electro-active polymers (EAPs) motion control time-domain analysis feedback electrostatic compressive force dielectric electro-active polymer membrane PID controller compliant electrode time domain Stress Mathematical model deformation geometry precision motion control Actuators electro-mechanical nonlinear model electroactive polymer actuators nonlinear control systems compressive strength Polymers Naso, David oth York, Alexander oth Seelecke, Stefan oth Enthalten in IEEE transactions on control systems technology New York, NY : IEEE, 1993 23(2015), 2, Seite 632-643 (DE-627)171098137 (DE-600)1151354-8 (DE-576)03420315X 1063-6536 nnns volume:23 year:2015 number:2 pages:632-643 http://dx.doi.org/10.1109/TCST.2014.2338356 Volltext http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6867294 GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-TEC SSG-OLC-MAT GBV_ILN_70 GBV_ILN_2014 GBV_ILN_2016 AR 23 2015 2 632-643
allfieldsGer	10.1109/TCST.2014.2338356 doi PQ20160617 (DE-627)OLC1959559273 (DE-599)GBVOLC1959559273 (PRQ)c1308-d0eddfb9eb129c22c07c4714ea23365e9b030d784dd8000af30f9d5b111247f60 (KEY)0226256820150000023000200632modelingidentificationandcontrolofadielectricelect DE-627 ger DE-627 rakwb eng 004 DNB Rizzello, Gianluca verfasserin aut Modeling, Identification, and Control of a Dielectric Electro-Active Polymer Positioning System 2015 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier This paper deals with a positioning system based on a dielectric electro-active polymer membrane. The motion is generated by the deformation of the membrane caused by the electrostatic compressive force between two compliant electrodes applied on the surface of the polymer. This paper proposes a detailed electro-mechanical nonlinear model of the system, which is subsequently used to develop (in both time and frequency domains) various model-based feedback control laws. Accurate modeling is useful to compensate the nonlinear behavior of the actuator (caused by the material characteristics and geometry) and obtain PID controllers providing precise tracking of steps or sinusoidal reference signals. The various design strategies are compared on various experimental tests. Load modeling dielectric electro-active polymer positioning system frequency-domain analysis material characteristics membranes motion generation frequency domain Springs PID design strategy smart materials sinusoidal reference signal three-term control model-based feedback control law actuator position control nonlinear behavior mechatronics Electro-active polymers (EAPs) motion control time-domain analysis feedback electrostatic compressive force dielectric electro-active polymer membrane PID controller compliant electrode time domain Stress Mathematical model deformation geometry precision motion control Actuators electro-mechanical nonlinear model electroactive polymer actuators nonlinear control systems compressive strength Polymers Naso, David oth York, Alexander oth Seelecke, Stefan oth Enthalten in IEEE transactions on control systems technology New York, NY : IEEE, 1993 23(2015), 2, Seite 632-643 (DE-627)171098137 (DE-600)1151354-8 (DE-576)03420315X 1063-6536 nnns volume:23 year:2015 number:2 pages:632-643 http://dx.doi.org/10.1109/TCST.2014.2338356 Volltext http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6867294 GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-TEC SSG-OLC-MAT GBV_ILN_70 GBV_ILN_2014 GBV_ILN_2016 AR 23 2015 2 632-643
allfieldsSound	10.1109/TCST.2014.2338356 doi PQ20160617 (DE-627)OLC1959559273 (DE-599)GBVOLC1959559273 (PRQ)c1308-d0eddfb9eb129c22c07c4714ea23365e9b030d784dd8000af30f9d5b111247f60 (KEY)0226256820150000023000200632modelingidentificationandcontrolofadielectricelect DE-627 ger DE-627 rakwb eng 004 DNB Rizzello, Gianluca verfasserin aut Modeling, Identification, and Control of a Dielectric Electro-Active Polymer Positioning System 2015 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier This paper deals with a positioning system based on a dielectric electro-active polymer membrane. The motion is generated by the deformation of the membrane caused by the electrostatic compressive force between two compliant electrodes applied on the surface of the polymer. This paper proposes a detailed electro-mechanical nonlinear model of the system, which is subsequently used to develop (in both time and frequency domains) various model-based feedback control laws. Accurate modeling is useful to compensate the nonlinear behavior of the actuator (caused by the material characteristics and geometry) and obtain PID controllers providing precise tracking of steps or sinusoidal reference signals. The various design strategies are compared on various experimental tests. Load modeling dielectric electro-active polymer positioning system frequency-domain analysis material characteristics membranes motion generation frequency domain Springs PID design strategy smart materials sinusoidal reference signal three-term control model-based feedback control law actuator position control nonlinear behavior mechatronics Electro-active polymers (EAPs) motion control time-domain analysis feedback electrostatic compressive force dielectric electro-active polymer membrane PID controller compliant electrode time domain Stress Mathematical model deformation geometry precision motion control Actuators electro-mechanical nonlinear model electroactive polymer actuators nonlinear control systems compressive strength Polymers Naso, David oth York, Alexander oth Seelecke, Stefan oth Enthalten in IEEE transactions on control systems technology New York, NY : IEEE, 1993 23(2015), 2, Seite 632-643 (DE-627)171098137 (DE-600)1151354-8 (DE-576)03420315X 1063-6536 nnns volume:23 year:2015 number:2 pages:632-643 http://dx.doi.org/10.1109/TCST.2014.2338356 Volltext http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6867294 GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-TEC SSG-OLC-MAT GBV_ILN_70 GBV_ILN_2014 GBV_ILN_2016 AR 23 2015 2 632-643
language	English
source	Enthalten in IEEE transactions on control systems technology 23(2015), 2, Seite 632-643 volume:23 year:2015 number:2 pages:632-643
sourceStr	Enthalten in IEEE transactions on control systems technology 23(2015), 2, Seite 632-643 volume:23 year:2015 number:2 pages:632-643
format_phy_str_mv	Article
institution	findex.gbv.de
topic_facet	Load modeling dielectric electro-active polymer positioning system frequency-domain analysis material characteristics membranes motion generation frequency domain Springs PID design strategy smart materials sinusoidal reference signal three-term control model-based feedback control law actuator position control nonlinear behavior mechatronics Electro-active polymers (EAPs) motion control time-domain analysis feedback electrostatic compressive force dielectric electro-active polymer membrane PID controller compliant electrode time domain Stress Mathematical model deformation geometry precision motion control Actuators electro-mechanical nonlinear model electroactive polymer actuators nonlinear control systems compressive strength Polymers
dewey-raw	004
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container_title	IEEE transactions on control systems technology
authorswithroles_txt_mv	Rizzello, Gianluca @@aut@@ Naso, David @@oth@@ York, Alexander @@oth@@ Seelecke, Stefan @@oth@@
publishDateDaySort_date	2015-01-01T00:00:00Z
hierarchy_top_id	171098137
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author	Rizzello, Gianluca
spellingShingle	Rizzello, Gianluca ddc 004 misc Load modeling misc dielectric electro-active polymer positioning system misc frequency-domain analysis misc material characteristics misc membranes misc motion generation misc frequency domain misc Springs misc PID misc design strategy misc smart materials misc sinusoidal reference signal misc three-term control misc model-based feedback control law misc actuator misc position control misc nonlinear behavior misc mechatronics misc Electro-active polymers (EAPs) misc motion control misc time-domain analysis misc feedback misc electrostatic compressive force misc dielectric electro-active polymer membrane misc PID controller misc compliant electrode misc time domain misc Stress misc Mathematical model misc deformation misc geometry misc precision motion control misc Actuators misc electro-mechanical nonlinear model misc electroactive polymer actuators misc nonlinear control systems misc compressive strength misc Polymers Modeling, Identification, and Control of a Dielectric Electro-Active Polymer Positioning System
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topic_title	004 DNB Modeling, Identification, and Control of a Dielectric Electro-Active Polymer Positioning System Load modeling dielectric electro-active polymer positioning system frequency-domain analysis material characteristics membranes motion generation frequency domain Springs PID design strategy smart materials sinusoidal reference signal three-term control model-based feedback control law actuator position control nonlinear behavior mechatronics Electro-active polymers (EAPs) motion control time-domain analysis feedback electrostatic compressive force dielectric electro-active polymer membrane PID controller compliant electrode time domain Stress Mathematical model deformation geometry precision motion control Actuators electro-mechanical nonlinear model electroactive polymer actuators nonlinear control systems compressive strength Polymers
topic	ddc 004 misc Load modeling misc dielectric electro-active polymer positioning system misc frequency-domain analysis misc material characteristics misc membranes misc motion generation misc frequency domain misc Springs misc PID misc design strategy misc smart materials misc sinusoidal reference signal misc three-term control misc model-based feedback control law misc actuator misc position control misc nonlinear behavior misc mechatronics misc Electro-active polymers (EAPs) misc motion control misc time-domain analysis misc feedback misc electrostatic compressive force misc dielectric electro-active polymer membrane misc PID controller misc compliant electrode misc time domain misc Stress misc Mathematical model misc deformation misc geometry misc precision motion control misc Actuators misc electro-mechanical nonlinear model misc electroactive polymer actuators misc nonlinear control systems misc compressive strength misc Polymers
topic_unstemmed	ddc 004 misc Load modeling misc dielectric electro-active polymer positioning system misc frequency-domain analysis misc material characteristics misc membranes misc motion generation misc frequency domain misc Springs misc PID misc design strategy misc smart materials misc sinusoidal reference signal misc three-term control misc model-based feedback control law misc actuator misc position control misc nonlinear behavior misc mechatronics misc Electro-active polymers (EAPs) misc motion control misc time-domain analysis misc feedback misc electrostatic compressive force misc dielectric electro-active polymer membrane misc PID controller misc compliant electrode misc time domain misc Stress misc Mathematical model misc deformation misc geometry misc precision motion control misc Actuators misc electro-mechanical nonlinear model misc electroactive polymer actuators misc nonlinear control systems misc compressive strength misc Polymers
topic_browse	ddc 004 misc Load modeling misc dielectric electro-active polymer positioning system misc frequency-domain analysis misc material characteristics misc membranes misc motion generation misc frequency domain misc Springs misc PID misc design strategy misc smart materials misc sinusoidal reference signal misc three-term control misc model-based feedback control law misc actuator misc position control misc nonlinear behavior misc mechatronics misc Electro-active polymers (EAPs) misc motion control misc time-domain analysis misc feedback misc electrostatic compressive force misc dielectric electro-active polymer membrane misc PID controller misc compliant electrode misc time domain misc Stress misc Mathematical model misc deformation misc geometry misc precision motion control misc Actuators misc electro-mechanical nonlinear model misc electroactive polymer actuators misc nonlinear control systems misc compressive strength misc Polymers
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title	Modeling, Identification, and Control of a Dielectric Electro-Active Polymer Positioning System
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title_full	Modeling, Identification, and Control of a Dielectric Electro-Active Polymer Positioning System
author_sort	Rizzello, Gianluca
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doi_str_mv	10.1109/TCST.2014.2338356
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title_sort	modeling, identification, and control of a dielectric electro-active polymer positioning system
title_auth	Modeling, Identification, and Control of a Dielectric Electro-Active Polymer Positioning System
abstract	This paper deals with a positioning system based on a dielectric electro-active polymer membrane. The motion is generated by the deformation of the membrane caused by the electrostatic compressive force between two compliant electrodes applied on the surface of the polymer. This paper proposes a detailed electro-mechanical nonlinear model of the system, which is subsequently used to develop (in both time and frequency domains) various model-based feedback control laws. Accurate modeling is useful to compensate the nonlinear behavior of the actuator (caused by the material characteristics and geometry) and obtain PID controllers providing precise tracking of steps or sinusoidal reference signals. The various design strategies are compared on various experimental tests.
abstractGer	This paper deals with a positioning system based on a dielectric electro-active polymer membrane. The motion is generated by the deformation of the membrane caused by the electrostatic compressive force between two compliant electrodes applied on the surface of the polymer. This paper proposes a detailed electro-mechanical nonlinear model of the system, which is subsequently used to develop (in both time and frequency domains) various model-based feedback control laws. Accurate modeling is useful to compensate the nonlinear behavior of the actuator (caused by the material characteristics and geometry) and obtain PID controllers providing precise tracking of steps or sinusoidal reference signals. The various design strategies are compared on various experimental tests.
abstract_unstemmed	This paper deals with a positioning system based on a dielectric electro-active polymer membrane. The motion is generated by the deformation of the membrane caused by the electrostatic compressive force between two compliant electrodes applied on the surface of the polymer. This paper proposes a detailed electro-mechanical nonlinear model of the system, which is subsequently used to develop (in both time and frequency domains) various model-based feedback control laws. Accurate modeling is useful to compensate the nonlinear behavior of the actuator (caused by the material characteristics and geometry) and obtain PID controllers providing precise tracking of steps or sinusoidal reference signals. The various design strategies are compared on various experimental tests.
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container_issue	2
title_short	Modeling, Identification, and Control of a Dielectric Electro-Active Polymer Positioning System
url	http://dx.doi.org/10.1109/TCST.2014.2338356 http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6867294
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author2	Naso, David York, Alexander Seelecke, Stefan
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doi_str	10.1109/TCST.2014.2338356
up_date	2024-07-03T17:51:48.207Z
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