A simple lumped port-Hamiltonian model for an actuated flexible beam is proposed. The flexible beam is modelled as a n-DOF actuated beam, and the port-Hamiltonian model is constructed by a systematic interconnection of the links of the beam. The proposed model is then instrumental to derive a stabilizing controller using interconnection and damping assignment - passivity based control considering an underactuated scenario. The work has been developed motivated by the practical application to a medical endoscope with distributed actuation by electro-active polymers. The lumped parameter model offers the possibility of having input/output ports in every joint between successive links, this permits to easily model the action of the actuators as an input force applied to a specific joint.
Mattioni, A., Wu, Y., Ramirez, H., Gorrec, Y.L., Macchelli, A. (2018). Modelling and control of a class of lumped beam with distributed control. Elsevier B.V. [10.1016/j.ifacol.2018.06.057].
Modelling and control of a class of lumped beam with distributed control
Macchelli, Alessandro
2018
Abstract
A simple lumped port-Hamiltonian model for an actuated flexible beam is proposed. The flexible beam is modelled as a n-DOF actuated beam, and the port-Hamiltonian model is constructed by a systematic interconnection of the links of the beam. The proposed model is then instrumental to derive a stabilizing controller using interconnection and damping assignment - passivity based control considering an underactuated scenario. The work has been developed motivated by the practical application to a medical endoscope with distributed actuation by electro-active polymers. The lumped parameter model offers the possibility of having input/output ports in every joint between successive links, this permits to easily model the action of the actuators as an input force applied to a specific joint.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
