An active disturbance rejection control method for soft robots based on dielectric elastomer actuators

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

technical field [0001] The invention relates to the technical field of soft robots, in particular to an active disturbance rejection control method for soft robots based on a dielectric elastomer actuator. Background technique [0002] A dielectric elastomer actuator (Dielectric elastomer actuator, referred to as DEA) is composed of two flexible electrodes and a flexible film sandwiched between them. When the electrodes are loaded with voltage, the dielectric elastic film will stretch to reduce the thickness to produce deformation. Because the dielectric elastomer actuator has the advantages of high strain response, high energy density and fast response speed, it has become a basic component of soft robots and is widely used in various fields, such as artificial muscles, bionic robots, energy generator etc. [0003] Since the soft body material is elastic and can undergo deformations such as bending, twisting, stretching, compression, fastening, and wrinkling, the soft bod...

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Problems solved by technology

[0007] At present, the research results of dielectric elastomer actuators mainly focus on the material and physical properties, while the research results on the control are very few

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