Modeling and Discrete-Time Terminal Sliding Mode Control of a DEAP Actuator with Rate-Dependent Hysteresis Nonlinearity

Round 1

Reviewer 1 Report

The paper is on tracking control of a Dielectric electro-active polymer (DEAP). The specific challenge is the present rate-dependent hysteresis. A suitable model combination of a non-linear and linear model is used as a model for the behavior, then the parameters are identified, then a suitable controller is used to controlling the DEAP. Extensive stability analysis and experimental results are provided.

The paper is well written and easy to follow. 

Here are a few minor suggestions

The paper needs to be re-read and improved for grammar. For example in the abstract reveals the following incomplete statement "Applying Levenberg-Marquardt(LM) algorithm identify the parameters of the Hammerstein model."

Figure 5 is color coded. That is if one prints the paper in Black and White it is impossible to distinguish 0.2 and 0.3 Hz response

The "discussion" section, which is included as part of 4.2 should be separated out. In this section, the paper needs to put the paper in the broader light of other works and for the field. A discussion of the advantages and disadvantages should also be listed to help the continuity of the work

Author Response

Author's Response

No. applsci-504839

Entitled: Modeling and Discrete-Time Terminal Sliding Mode Control of a DEAP Actuator with Rate-Dependent Hysteresis Nonlinearity
Author(s): Mengmeng Li, Qinglin Wang, Yuan Li* and Zhaoguo Jiang

 

Dear Reviewer:

Thank you for your comments concerning our manuscript ( No. applsci-504839). Those comments are all valuable and very helpful for revising and improving our paper. We have studied comments carefully and have made correction which we hope meet with approval. The main corrections in the paper and the responds are as following (i.e., Response to Reviewer 1 Comments.PDF):

Author Response File: Author Response.pdf

Reviewer 2 Report

I really like this paper - interesting message, nice research.

What I noticed for improvement:

formulation of research contains only formulation in terms of theory of  control - there is a way to formulate friction forces as cause of hysteresis. Some sentences in task definition would improve the paper.

 I would like some references to experimental confirmation of such phenomena.

 Discussion need to be enhanced - no actual conclusion on implementing of DEAP actuator with such properties.

Author Response

Author's Response

No. applsci-504839

Entitled: Modeling and Discrete-Time Terminal Sliding Mode Control of a DEAP Actuator with Rate-Dependent Hysteresis Nonlinearity
Author(s): Mengmeng Li, Qinglin Wang, Yuan Li* and Zhaoguo Jiang

 

Dear Reviewer:

Thank you for your comments concerning our manuscript ( No. applsci-504839). Those comments are all valuable and very helpful for revising and improving our paper. We have studied comments carefully and have made correction which we hope meet with approval. The main corrections in the paper and the responds are as following (i.e., Response to Reviewer 2 Comments.PDF):

Author Response File: Author Response.pdf