Adaptive Backstepping Controller with Output Feedback for Dielectric Elastomer Actuator

This paper presents an output feedback backstepping controller for Dielectric Elastomer Actuator. The main challenges in the considered problem are the actuator nonlinearities and the output feedback. The control problem is solved by designing an observer with linear matrix inequalities technique and a controller with backstepping methodology. The stability analysis is performed for closed loop system by Lyapunov function. Furthermore, the adaptation is applied to obtain robustness for unknown load force. The presented approach is illustrated on simulations.