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

Actuators

Haiqiang Hu¹  Yongxin Wu²  Yanjun Li³  Weijun Zhou³  Yu Wang³ 

[1] (CNBM) Intellgent Automation Research Institute for Light Industry, Hangzhou 310027, China;FEMTO-ST, University Bourgogne Franche-Comté, CNRS, 24 rue Savary, F25000 Besançon, France;Zhejiang University City College, Hangzhou 310015, China;

关键词: passivity-based control;    flexible beam;    IPMC actuators;   

DOI  :  10.3390/act10090236

来源: DOAJ

【 摘 要 】

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.

【 授权许可】

Unknown