Energy-Based Modeling and Control of a Piezotube Actuated Optical Fiber

Authors

Edgar Perez Ayala, Yongxin Wu, Kanty Rabenorosoa, Yann Le Gorrec

Abstract

This article presents an energy-based modeling and control design method for a piezotube actuated optical fiber. A nonlinear infinite dimensional port Hamiltonian (pH) formulation of the 3-D flexible optical fiber is derived from the Cosserat rod dynamical equations. Then, the proposed infinite dimensional model is discretized using a pH structure and passivity preserving discretization method for the simulation and control design. This model is then validated against experimental data obtained using a built-in experimental setup equipped with a MEMS Analyzer. A complete pH formulation of the piezotube actuated optical fiber is proposed, combining the Cosserat rod model and actuator dynamics. This model is used for the end-point path control design using an interconnection and damping assignment passivity based control (IDA-PBC) method. Both the proposed pH model of the overall system and the controller are validated in simulation and against experimental results.

Citation

• Journal: IEEE/ASME Transactions on Mechatronics
• Year: 2023
• Volume: 28
• Issue: 1
• Pages: 385–395
• Publisher: Institute of Electrical and Electronics Engineers (IEEE)
• DOI: 10.1109/tmech.2022.3199566

BibTeX

@article{Ayala_2023,
  title={{Energy-Based Modeling and Control of a Piezotube Actuated Optical Fiber}},
  volume={28},
  ISSN={1941-014X},
  DOI={10.1109/tmech.2022.3199566},
  number={1},
  journal={IEEE/ASME Transactions on Mechatronics},
  publisher={Institute of Electrical and Electronics Engineers (IEEE)},
  author={Ayala, Edgar Perez and Wu, Yongxin and Rabenorosoa, Kanty and Le Gorrec, Yann},
  year={2023},
  pages={385--395}
}

Download the bib file

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