Multi-Objective Model-Predictive Control for Dielectric Elastomer Wave Harvesters
This contribution deals with multi-objective model-predictive control (MPC) of a wave energy converter (WEC) device concept, which can harvest energy from sea waves using a dielectric elastomer generator (DEG) power take-off system. We aim to maximise the extracted energy through control while minimising the accumulated damage to the DEG. With reference to system operation in stochastic waves, we first generate ground truth solutions by solving an optimal control problem, and we analyse the MPC performance to determine a prediction horizon that trades off accuracy and efficiency for computation. Fixed weights in the MPC scheme can produce unpredictable costs for variable sea condition, meaning the average rate of cost accumulation can vary vastly. To steer this cost growth, we propose a heuristic to adapt the algorithm by changing the weighting of the cost functions using for fulfilling the long-time goal of accumulating a small enough damage in a fixed time. A simulated case-study is presented in order to evaluate the performance of the proposed MPC framework and the weight-adaptation algorithm. The proposed heuristic proves to be able to limit the amount of accumulated damage while remaining close to (or even improving) the energy yield obtained with a comparable fixed-weight MPC.
Code (1)
Tasks
Model Predictive ControlSimilar Papers 제목 키워드 기반
Multimodal Machine Learning for Soft High-k Elastomers under Data Scarcity
Dielectric materials are critical building blocks for modern electronics such as sensors, actuators, and transistors. With rapid advances in soft and stretchable electronics for emerging human- and robot-interfacing appl…
Dielectric Elastomer Actuator biased by Magnetorheological Elastomer with Permanent Magnet
Dielectric elastomer actuators have become one of the most important smart material transducers in recent times. One of the crucial aspects in this field is the application of bias to find the best operating conditions. …
Robust interaction control of a dielectric elastomer actuator with variable stiffness
This paper presents an interaction control algorithm for a dielectric elastomer membrane actuator. The proposed method permits efficient exploitation of the controllable stiffness of the material, allowing to use the mem…
Inverse Nonlinearity Compensation of Hyperelastic Deformation in Dielectric Elastomer for Acoustic Actuation
This paper presents an in-depth examination of the nonlinear deformation induced by dielectric actuation in pre-stressed ideal dielectric elastomers. A nonlinear ordinary differential equation that governs this deformati…
Numerical IntegrationUntethered thin dielectric elastomer actuated soft robot
Thin dielectric elastomer actuator (DEA) features a unique in-plane configuration, enabling low-profile designs capable of accessing millimetre-scale narrow spaces. However, most existing DEA-powered soft robots require …