%AVolchko, Angella%AMitchell, Shane%AMorrissey, Timothy%AHumbert, J.%D2022%I %K %MOSTI ID: 10355798 %PMedium: X %TModel-Based Data-Driven System Identification and Controller Synthesis Framework for Precise Control of SISO and MISO HASEL-Powered Robotic Systems %XSoft robots require a complimentary control architecture to support their inherent compliance and versatility. This work presents a framework to control soft-robotic systems systematically and effectively. The data-driven model-based approach developed here makes use of Dynamic Mode Decomposition with control (DMDc) and standard controller synthesis techniques. These methods are implemented on a robotic arm driven by an antagonist pair of Hydraulically Amplified Self-Healing Electrostatic (HASEL) actuators. The results demonstrate excellent tracking performance and disturbance rejection, achieving a steady state error under 0.25% in response to step inputs and maintaining a reference orientation within 0.5 degrees during loading and unloading. The procedure presented in this work can be extended to develop effective and robust controllers for other soft-actuated systems without knowledge of their dynamics a priori. Country unknown/Code not availablehttps://doi.org/10.1109/RoboSoft54090.2022.9762220OSTI-MSA