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The smart actuators are rapidly developing in the recent years. Dielectric Electroactive Polymer actuators are very important smart actuators due to their features like softness, high force ratio, fast operation and silence. In recent year a set of dynamic models for DEAP actuators have been developed by various authors. Relying on these models it is possible to design an wide range of feedback controllers. In our work, we develop the indirect adaptive controller for Dielectric Electroactivedoi:10.1109/access.2020.3006315 fatcat:gvih6evjlbhzxkpk2f2hiubjt4