Active disturbance rejection control for a DEAP rotation actuator with hysteresis using a Bouc-Wen model

The paper presents the modeling and control of a dielectric electro-active polymer (DEAP) rotation actuator. The DEAP rotation actuator mainly consists of a DEAP linear displacement actuator and a spring. The Bouc-Wen model is applied to describe hysteresis characteristic existing in the DEAP smart material. A modified linear active disturbance rejection controller is designed by treating hysteresis as disturbance to obtain high tracking accuracy and ensure system stability. Simulation results demonstrate that the proposed controller has the superiority to a general active disturbance rejection controller in terms of tracking error.