Modeling and adaptive pseudo-inverse control for dielectric elastomer actuated motion control systems

Xiuyu Zhang, Fu Guo, Hongzhi Xu, Zhi Li, Feng Shu, Xinkai Chen

Research output: Contribution to journalArticlepeer-review


In this paper, we propose a neural network approximator-based proportional-derivative pseudo-inverse control scheme. The purpose is to precisely control a motion control platform actuated by a dielectric elastomer actuator (DEA). Our main contributions are as follows: (1) a new butterfly asymmetric shift Prandtl-Ishlinskii (BASPI) model that can describe the butterfly hysteresis behavior in a DEA; (2) the butterfly hysteresis pseudo-inverse compensation algorithm to effectively mitigate the butterfly hysteresis, instead of the explicit butterfly hysteresis inverse compensator. The algorithm searches for the practical control signal from the hysteresis temporary controller; (3) a DEA motion control platform is constructed. Finally, we conducted the open-loop and closed-loop experiments to verify the effectiveness of the proposed BASPI model and the proposed control scheme.

Original languageEnglish
Article number095037
JournalSmart Materials and Structures
Issue number9
Publication statusPublished - 2022 Sept


  • adaptive
  • control
  • dielectric elastomer
  • modelings
  • pseudo-inverse

ASJC Scopus subject areas

  • Signal Processing
  • Civil and Structural Engineering
  • Atomic and Molecular Physics, and Optics
  • General Materials Science
  • Condensed Matter Physics
  • Mechanics of Materials
  • Electrical and Electronic Engineering


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