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

被引：1

作者：

Zhou, Weijun ^{[1
,2
]}

Liu, Ning ^{[3
]}

Wu, Yongxin ^{[3
]}

Ramirez, Hector ^{[4
]}

Le Gorrec, Yann ^{[3
]}

机构：

[1] Zhejiang Univ City Coll, Dept Informat & Elect Engn, Hangzhou 310015, Peoples R China

[2] Zhejiang Univ, Coll Elect Engn, Hangzhou 310027, Peoples R China

[3] Univ Bourgogne Franche Comte, FEMTO ST Inst, UMR CNRS 6174, AS2M Dept,ENSMM, F-25000 Besancon, France

[4] Univ Tecn Federico Santa Maria, Dept Elect, Valparaiso 2362735, Chile

来源：

IEEE ACCESS | 2022年 / 10卷

关键词：

Actuators; Endoscopes; Mathematical models; Control design; Stability analysis; Asymptotic stability; Strain; Port-Hamiltonian system; IPMC; flexible beam; passivity-based LQG control; DISTRIBUTED-PARAMETER SYSTEMS; TIMOSHENKO BEAM;

D O I：

10.1109/ACCESS.2022.3146367

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：12153 / 12163

页数：11

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