Hammoud, AmalLiu, NingLe Gorrec, YannCivet, Yoan René CyrillePerriard, Yves2024-10-302024-10-302024-10-302024-06-0110.1016/j.ifacol.2024.08.251https://infoscience.epfl.ch/handle/20.500.14299/241771This paper is concerned with the port Hamiltonian modeling and control of a dielectric elastomer actuator used for a cardiac assistance device. The proposed non-linear model is identified under different applied voltages and pressures, and validated against experimental results with relative errors of less than 0.3%. Subsequently, two passivity-based controllers are designed to stabilize the actuator at a desired position. The first controller is designed using control by interconnection. The second one considers additional integral action to reject disturbances while preserving the passivity of the closed-loop system.enDielectric elastomer actuatorsport-Hamiltonian systemspassivity-based controlintegral action Dielectric elastomer actuatorsEnergy-based modeling and robust position control of a dielectric elastomer cardiac assist devicetext::objet présenté à une conférence