フクシマ　エドワルド　フミヒコ   福島 E.文彦    所属   工学部 機械工学科    職種   教授
言語種別	中国語
発行・発表の年月	2025/01
形態種別	学術論文
査読	査読あり
標題	Modeling and Control of Dielectric Elastomer Actuator Based on Neural Ordinary Differential Equation and Nonlinear Model Predictive Control
執筆形態	共著
掲載誌名	自 动 化 学 报
掲載区分	国外
出版社・発行元	ACTA AUTOMATICA SINICA
巻・号・頁	51(1),186-196頁
総ページ数	11
国際共著	国際共著
著者・共著者	黄 鹏, 王亚午 , 吴俊东 , 苏春翌, 福島E.文彦
概要	This paper proposed dynamic modeling and tracking control methods for a dielectric elastomer actuator (DEA) based on the neural ordinary differential equation (ODE) and nonlinear model predictive control (MPC). First, a dynamic model of the DEA was established based on the neural ODE to describe its complicated dynamics behavior. Then, based on the established dynamic model of the DEA, a nonlinear model predictive controller was designed to realize its tracking control objective. Finally, a series of tracking control experiments were conducted on the built experimental platform. In all experimental results, the motion of the DEA can track the target trajectory well, and all relative root-mean-square-errors are no more than 3.30%, which illustrates the effectiveness of proposed dynamic modeling and tracking control methods.
外部リンクURL	https://www.sciengine.com/AAS2/doi/10.16383/j.aas.c240223