CONTROL METHOD FOR CONTRACT-TYPE GEL ACTUATOR
Provided is a control method for a contract-type gel actuator that can control an action of the contract-type gel actuator with high accuracy and can be used for position control and the like. The control method for a contract-type gel actuator including gels (13a, 13b) of dielectric polymeric material interposed between an anode (14) and a cathode (12), the method controlling a displacement in the thickness direction of a contract-type gel actuator (10), which contracts in the thickness direction by applying voltage between the anode (14) and the cathode (12), and performs the feedback control of an applied voltage (E), with a sampled value of a displacement (x) when the applied voltage (E) is made to act on the contract-type gel actuator (10), on the basis of the following equation (1): E = kp (xd - x) + Ed (1). In the equation, xd represents the target displacement of the contract-type gel actuator
Ed represents an applied voltage with respect to the target displacement (xd) obtained by the linear approximation of the applied voltage and the displacement from an observation result of the displacement in accordance with the applied voltage of the contract-type gel actuator
and kp represents the proportional gain.