Position and anti-drift control of large-scale curling HASEL actuators

This paper addresses the position and anti-drift control of large-scale curling Hydraulically Amplified Self-Healing Electrostatic (HASEL) actuators using the Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) methodology formulated within the port-Hamiltonian systems (PHS) framework. Expanding upon previous work on low-scale models, this study adapts the control strategy to large-scale systems, ensuring its effectiveness across scales. The proposed control law retains its structure from the low-scale case, with dimensionality remaining constant despite the increased system complexity. As in the low-scale setting, the closed-loop system mitigates the drift. Numerical simulations confirm the methodology's effectiveness, demonstrating its capability to achieve precise position control and mitigate drift in large-scale systems.