Research on Trajectory Tracking of Dielectric Elastomer Based on RBFNN

Aiming at the problem of nonlinear motion caused by the viscoelasticity and hyperelasticity of dielectric elastomers, in order to realize the linear motion of the actuator structure, this paper proposes a trajectory tracking method of dielectric elastomers based on RBFNN optimal adaptive control. A dielectric elastic body dynamics model based on the Gent model is established to analyze the nonlinear motion performance of the structure. Combining with the problem that it is difficult to obtain the viscoelastic and hyperelastic models of dielectric elastomers, the unknown items in the model are estimated using the method based on radial basis neural network. According to the estimation results of the neural network, a sliding mode controller is designed to realize the tracking control target of the dielectric elastomer, and the influence law of the excitation frequency on the model motion trajectory is researched. Finally, the effectiveness of the proposed control strategy is verified by numerical simulation experiments, and further optimization design and experimental verification are realized.