EAAI Journal 2026 Journal Article
A physics-guided neural network architecture for nonlinear hysteresis modeling of dielectric elastomer actuators
- Hongfei Wang
- Lei Ni
- Linhai Huang
- Yijun Li
- Geng Wang
The input-output dynamics of dielectric elastomer actuators (DEAs) are inherently nonlinear and strongly hysteretic, posing significant challenges to accurate control unless rigorously modeled. To address this challenge, the paper proposes an innovative physics-guided neural network modeling framework. Specifically, a prior-physics knowledge-constrained driving mechanism is firstly designed by embedding the operational relationships of the Fractional-order Backlash-like differential equation as constraints on the neural network topology, achieving a clear one-to-one relationship between the equation's parameters and the neural network's weights. The resulting customized neural network model has a clear and transparent structure, marking the successful transformation of a Fractional-order Backlash-like differential equation model into a neural network representation for the first time. Then a gated recurrent unit (GRU) module is further integrated to compensate for unmodeled dynamic errors. The GRU's specially designed reset and update gates enable effective capture and processing of temporal dependencies. Experimental results demonstrate the proposed method's significant advantages in modeling the complex hysteresis behavior of DEAs: compared to traditional Fractional-order Backlash-like models, the average modeling error is reduced by approximately 30%, and peak-to-valley error is decreased to just 11% of its original value, indicating improved stability and accuracy. Furthermore, when compared to conventional GRU-based models, the proposed approach achieves a 30% reduction in runtime while maintaining comparable modeling precision, highlighting its superior overall performance and potential for practical deployment. This modeling strategy aims to provide a novel perspective for nonlinear hysteresis modeling of DEAs and other smart materials, thereby expanding the boundaries of physics-guided and deep learning integration.