This paper deals with the finite dimensional modelling and control of an electro-active polymer (EAP) actuated flexible structure. This model reproduces the basic mechanical properties of a class of one dimensional flexible endoscope. The flexible structure and the EAP actuator are both modelled as port-Hamiltonian systems. The EAP actuator is interconnected with the flexible structure in a power preserving manner such that the global system is again a PHS. Using the obtained model, two passivity based control strategies are applied to derive the controllers which achieve a desired equilibrium configuration with desired dynamic behaviour. An experimental benchmark composed of the Ionic Polymer Metal Composites patches glued to a flexible beam is used to validate the proposed model and control law.
Modelling and control of an IPMC actuated flexible structure: A lumped port Hamiltonian approach / Andrea Mattioni, Yongxin Wu, Hector Ramirez, Yann Le Gorrec, Alessandro Macchelli. - In: CONTROL ENGINEERING PRACTICE. - ISSN 0967-0661. - STAMPA. - 101:(2020), pp. 104498.1-104498.10. [10.1016/j.conengprac.2020.104498]
Modelling and control of an IPMC actuated flexible structure: A lumped port Hamiltonian approach
Alessandro MacchelliMembro del Collaboration Group
2020
Abstract
This paper deals with the finite dimensional modelling and control of an electro-active polymer (EAP) actuated flexible structure. This model reproduces the basic mechanical properties of a class of one dimensional flexible endoscope. The flexible structure and the EAP actuator are both modelled as port-Hamiltonian systems. The EAP actuator is interconnected with the flexible structure in a power preserving manner such that the global system is again a PHS. Using the obtained model, two passivity based control strategies are applied to derive the controllers which achieve a desired equilibrium configuration with desired dynamic behaviour. An experimental benchmark composed of the Ionic Polymer Metal Composites patches glued to a flexible beam is used to validate the proposed model and control law.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.