Modelling and control of an IPMC actuated flexible structure: A lumped port Hamiltonian approach

Authors

Andrea Mattioni, Yongxin Wu, Hector Ramirez, Yann Le Gorrec, Alessandro Macchelli

Abstract

This paper deals with the finite dimensional modelling and control of an electro-active polymer (EAP) actuated flexible structure. This model reproduces the basic mechanical properties of a class of one dimensional flexible endoscope. The flexible structure and the EAP actuator are both modelled as port-Hamiltonian systems. The EAP actuator is interconnected with the flexible structure in a power preserving manner such that the global system is again a PHS. Using the obtained model, two passivity based control strategies are applied to derive the controllers which achieve a desired equilibrium configuration with desired dynamic behaviour. An experimental benchmark composed of the Ionic Polymer Metal Composites patches glued to a flexible beam is used to validate the proposed model and control law.

Keywords

EAP actuator; IDA-PBC; Passivity based control; Parameter identification; Anti-damping injection

Citation

Journal: Control Engineering Practice
Year: 2020
Volume: 101
Issue:
Pages: 104498
Publisher: Elsevier BV
DOI: 10.1016/j.conengprac.2020.104498

BibTeX

@article{Mattioni_2020,
  title={{Modelling and control of an IPMC actuated flexible structure: A lumped port Hamiltonian approach}},
  volume={101},
  ISSN={0967-0661},
  DOI={10.1016/j.conengprac.2020.104498},
  journal={Control Engineering Practice},
  publisher={Elsevier BV},
  author={Mattioni, Andrea and Wu, Yongxin and Ramirez, Hector and Le Gorrec, Yann and Macchelli, Alessandro},
  year={2020},
  pages={104498}
}

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