This paper deals with modelling and control of an endoscope actuated by Ionic Polymer Metal Composites (IPMC) patches. The endoscope is modelled by a nonlinear partial differential equation (PDE) capable to describe large deformations. The dynamics of the flexible structure and of the IPMC patches are in port-Hamiltonian form, with the actuators interconnected to the mechanical device in power-conserving way. Thus, the complete model is a port-Hamiltonian system in which a PDE with fixed boundary conditions is coupled with a set of ordinary differential equations. The control inputs are the voltages applied to the patches, and the feedback law is designed within the Interconnection and Damping Assignment Passivity-based Control (IDA-PBC) framework. The asymptotic stability of the closed-loop system is proved, and the effectiveness of the design procedure is illustrated by a numerical example.

Port-Hamiltonian Control Design for an IPMC Actuated Highly Flexible Endoscope / MacChelli A.; Wu Y.; Gorrec Y.L.. - ELETTRONICO. - (2023), pp. 1955-1960. (Intervento presentato al convegno 62nd IEEE Conference on Decision and Control, CDC 2023 tenutosi a sgp nel 2023) [10.1109/CDC49753.2023.10383805].

Port-Hamiltonian Control Design for an IPMC Actuated Highly Flexible Endoscope

MacChelli A.
;
2023

Abstract

This paper deals with modelling and control of an endoscope actuated by Ionic Polymer Metal Composites (IPMC) patches. The endoscope is modelled by a nonlinear partial differential equation (PDE) capable to describe large deformations. The dynamics of the flexible structure and of the IPMC patches are in port-Hamiltonian form, with the actuators interconnected to the mechanical device in power-conserving way. Thus, the complete model is a port-Hamiltonian system in which a PDE with fixed boundary conditions is coupled with a set of ordinary differential equations. The control inputs are the voltages applied to the patches, and the feedback law is designed within the Interconnection and Damping Assignment Passivity-based Control (IDA-PBC) framework. The asymptotic stability of the closed-loop system is proved, and the effectiveness of the design procedure is illustrated by a numerical example.
2023
Proceedings of the IEEE Conference on Decision and Control
1955
1960
Port-Hamiltonian Control Design for an IPMC Actuated Highly Flexible Endoscope / MacChelli A.; Wu Y.; Gorrec Y.L.. - ELETTRONICO. - (2023), pp. 1955-1960. (Intervento presentato al convegno 62nd IEEE Conference on Decision and Control, CDC 2023 tenutosi a sgp nel 2023) [10.1109/CDC49753.2023.10383805].
MacChelli A.; Wu Y.; Gorrec Y.L.
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11585/962790
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