Port-Hamiltonian modeling and control of a curling HASEL actuator

Authors

Nelson Cisneros, Yongxin Wu, Kanty Rabenorosoa, Yann Le Gorrec

Abstract

This paper is concerned with the modeling and control of a curling Hydraulically Amplified Self-healing Electrostatic (HASEL) actuator using the port-Hamiltonian (PH) approach. For that purpose, we use a modular approach and consider the HASEL actuator as an interconnection of elementary subsystems. Each subsystem is modeled by an electrical component consisting of a capacitor in parallel with an inductor connected through the conservation of volume of the moving liquid to a mechanical structure based on inertia, linear, and torsional springs. The parameters are then identified, and the model is validated on the experimental setup. Position control is achieved by using Interconnection and Damping Assignment-Passivity Based Control (IDA-PBC) with integral action (IA) for disturbance rejection. Simulation results show the Efficiency of the proposed controller.

Keywords

Soft actuator; HASEL actuator; Port-Hamiltonian systems; IDA-PBC design

Citation

• Journal: IFAC-PapersOnLine
• Year: 2024
• Volume: 58
• Issue: 6
• Pages: 143–148
• Publisher: Elsevier BV
• DOI: 10.1016/j.ifacol.2024.08.271
• Note: 8th IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control LHMNC 2024- Besançon, France, June 10 – 12, 2024

BibTeX

@article{Cisneros_2024,
  volume={58},
  ISSN={2405-8963},
  DOI={10.1016/j.ifacol.2024.08.271},
  number={6},
  journal={IFAC-PapersOnLine},
  publisher={Elsevier BV},
  author={Cisneros, Nelson and Wu, Yongxin and Rabenorosoa, Kanty and Le Gorrec, Yann},
  year={2024},
  pages={143--148}
}

Download the bib file

References

• Acome, E. et al. Hydraulically amplified self-healing electrostatic actuators with muscle-like performance. Science vol. 359 61–65 (2018) – 10.1126/science.aao6139
• Ayala, Energy-based modeling and control of a piezotube actuated optical fiber. IEEE/ASME Transactions on Mechatronics (2022)
• Ferguson, J., Donaire, A., Ortega, R. & Middleton, R. H. Matched disturbance rejection for energy-shaping controlled underactuated mechanical systems. 2017 IEEE 56th Annual Conference on Decision and Control (CDC) 1484–1489 (2017) doi:10.1109/cdc.2017.8263862 – 10.1109/cdc.2017.8263862
• Franco, E., Garriga Casanovas, A., Tang, J., Rodriguez y Baena, F. & Astolfi, A. Position regulation in Cartesian space of a class of inextensible soft continuum manipulators with pneumatic actuation. Mechatronics vol. 76 102573 (2021) – 10.1016/j.mechatronics.2021.102573
• Franco, E., Garriga-Casanovas, A., Tang, J., Rodriguez y Baena, F. & Astolfi, A. Adaptive Energy Shaping Control of a Class of Nonlinear Soft Continuum Manipulators. IEEE/ASME Transactions on Mechatronics vol. 27 280–291 (2022) – 10.1109/tmech.2021.3063121
• Hainsworth, (2022)
• Kellaris, N. et al. Spider‐Inspired Electrohydraulic Actuators for Fast, Soft‐Actuated Joints. Advanced Science vol. 8 (2021) – 10.1002/advs.202100916
• Kim, Double-layered electrohydraulic actuator for bi-directional bending motion of soft gripper. In 2021 18th International Conference on Ubiquitous Robots (UR) (2021)
• Ly, (2022)
• Ortega, R., van der Schaft, A., Maschke, B. & Escobar, G. Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems. Automatica vol. 38 585–596 (2002) – 10.1016/s0005-1098(01)00278-3
• Rothemund, P., Kellaris, N., Mitchell, S. K., Acome, E. & Keplinger, C. HASEL Artificial Muscles for a New Generation of Lifelike Robots—Recent Progress and Future Opportunities. Advanced Materials vol. 33 (2020) – 10.1002/adma.202003375
• Tian, Y. et al. Peano‐Hydraulically Amplified Self‐Healing Electrostatic Actuators Based on a Novel Bilayer Polymer Shell for Enhanced Strain, Load, and Rotary Motion. Advanced Intelligent Systems vol. 4 (2022) – 10.1002/aisy.202100239
• van der Schaft, (2000)
• Volchko, (2022)
• Yeh, Y., Cisneros, N., Wu, Y., Rabenorosoa, K. & Gorrec, Y. L. Modeling and Position Control of the HASEL Actuator via Port-Hamiltonian Approach. IEEE Robotics and Automation Letters vol. 7 7100–7107 (2022) – 10.1109/lra.2022.3181365