Identification of dielectric electro active polymer actuator by fuzzy NARX Model and Particle swarm optimization

Dielectric electro active polymer (DEAP) holds a great potential for a widespread application field due to its unique flexible and elastic properties. This paper proposes a dynamic Fuzzy Nonlinear auto regressive exogenous (NARX) model for modeling and identifying the nonlinear behavior of DEAP push actuator. The nonlinear features of the actuator are investigated based on a set of open loop input voltage signals applied to system. A fuzzy NARX model together with an identification scheme based on Particle swarm optimization (PSO) algorithm are then applied to the DEAP actuator. The experimental researches are carried out and the effectiveness of the proposed control algorithm is evaluated by employing some different input signals.