Energy-Based Modeling and Hamiltonian LQG Control of a Flexible Beam Actuated by IPMC Actuators

Authors

Weijun Zhou, Ning Liu, Yongxin Wu, Hector Ramirez, Yann Le Gorrec

Abstract

The control of a flexible beam using ionic polymer metal composites (IPMCs) is investigated in this paper. The mechanical flexible dynamics are modelled as a Timoshenko beam. The electric dynamics of the IPMCs are considered in the model. The port-Hamiltonian framework is used to propose an interconnected control model of the mechanical flexible beam and IPMC actuator. Furthermore, a passive and Hamiltonian structure-preserving linear quadratic Gaussian (LQG) controller is used to achieve the desired configuration of the system, and the asymptotic stability of the closed-loop system is shown using damping injection. An experimental setup is built using a flexible beam actuated by two IPMC patches to validate the proposed model and show the performance of the proposed control law.

Citation

• Journal: IEEE Access
• Year: 2022
• Volume: 10
• Issue:
• Pages: 12153–12163
• Publisher: Institute of Electrical and Electronics Engineers (IEEE)
• DOI: 10.1109/access.2022.3146367

BibTeX

@article{Zhou_2022,
  title={{Energy-Based Modeling and Hamiltonian LQG Control of a Flexible Beam Actuated by IPMC Actuators}},
  volume={10},
  ISSN={2169-3536},
  DOI={10.1109/access.2022.3146367},
  journal={IEEE Access},
  publisher={Institute of Electrical and Electronics Engineers (IEEE)},
  author={Zhou, Weijun and Liu, Ning and Wu, Yongxin and Ramirez, Hector and Le Gorrec, Yann},
  year={2022},
  pages={12153--12163}
}

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