Modeling and Position Control of DEAP Actuator Using Inverse NARX Fuzzy Structure with PSO Algorithm
Dielectric Electro Active Polymers (DEAPs) get hold of a great potential for a large application field due to its light weight,flexibility characteristic and elastic properties.In this paper,an Inverse dynamic nonlinear auto regressive exogenous (Inverse NARX) Fuzzy structure for modeling and identifying the inverse model of a DEAP actuator is proposed.The characteristics of the fuzzy structure are then identified by an adaptive particle swarm optimization (APSO) algorithm based on input/output training data gathered experimentally from the DEAP actuator system.Finally,the optimized Inverse NARX Fuzzy model based on APSO is experimentally demonstrated in an Inverse NARX Fuzzy model-PID position controller for the DEAP actuator.
dielectric electro active polymer (DEAP) actuators fuzzy controller inverse narx adaptive particle swarm optimization (APSO)
Bui-Ngoc-Minh Truong Kyoung-Kwan Ahn Young-Yin Yum Pham-Thanh Nhut
Graduate School of Mechanical and Automotive Engineering, University of Ulsan, Ulsan, Korea School of Mechanical and Automotive Engineering, University of Ulsan, Ulsan, Korea
国际会议
天津
英文
341-345
2012-10-16（万方平台首次上网日期，不代表论文的发表时间）