Port-Hamiltonian Modeling and IDA-PBC Control of an IPMC-Actuated Flexible Beam

Authors

Weijun Zhou, Yongxin Wu, Haiqiang Hu, Yanjun Li, Yu Wang

Abstract

In this paper, the infinite-dimensional port-Hamiltonian modelling and control problem of a flexible beam actuated using ionic polymer metal composite (IPMC) actuators is investigated. The port-Hamiltonian framework is used to propose an interconnected control model of the mechanical flexible beam and the IPMC actuator. The mechanical flexible dynamic is modelled as a Timoshenko beam, and the electric dynamics of the IPMCs are considered in the model. Furthermore, a passivity-based control-strategy is used to obtain the desired configuration of the proposed interconnected system, and the closed-loop stability is analyzed using the early lumped approach. Lastly, numerical simulations and experimental results are presented to validate the proposed model and the effectiveness of the proposed control law.

Citation

• Journal: Actuators
• Year: 2021
• Volume: 10
• Issue: 9
• Pages: 236
• Publisher: MDPI AG
• DOI: 10.3390/act10090236

BibTeX

@article{Zhou_2021,
  title={{Port-Hamiltonian Modeling and IDA-PBC Control of an IPMC-Actuated Flexible Beam}},
  volume={10},
  ISSN={2076-0825},
  DOI={10.3390/act10090236},
  number={9},
  journal={Actuators},
  publisher={MDPI AG},
  author={Zhou, Weijun and Wu, Yongxin and Hu, Haiqiang and Li, Yanjun and Wang, Yu},
  year={2021},
  pages={236}
}

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