Yunhua Zhao

Adaptive Tracking Control of Dielectric Elastomer Soft Actuators with Viscoelastic Hysteresis Compensation

This paper proposes a new adaptive control method with viscoelastic hysteresis compensation for high-precision tracking control of dielectric elastomer actuators (DEAs). A direct inverse feedforward compensator is constructed by using a modified Prandtl-Ishlinskii model for compensating hysteresis n…