Modelling and control of an IPMC actuated flexible structure: A lumped port Hamiltonian approach

Mattioni, Andrea; Wu, Yongxin; Ramírez, Héctor; Gorrec, Yann Le; Macchelli, Alessandro

doi:10.1016/j.conengprac.2020.104498

Cited by 19 publications

(13 citation statements)

References 18 publications

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“…, where the operator and matrix are defined in the balanced realization of the system (26) and R = I. The cost function is defined as shown in equation (20), which is the input output energy function in this case. To guarantee the closed loop passivity and stability, we compute the covariance operators R w and Q v using ( 21) and (22), which are defined in Theorem 2.…”

Section: Control Of the Ipmc Actuated Flexiblementioning

confidence: 99%

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

Zhou

Liu

et al. 2022

IEEE Access

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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.

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Section: Control Of the Ipmc Actuated Flexiblementioning

confidence: 99%

“…In [19], these results were generalized to the infinite-dimensional case. In [20], a nonlinear lumped parameter system of a flexible structure using the PHS framework of a class of 1-D IPMC actuated flexible structures was proposed. In that work, a state feedback control law with a state observer for practical implementation is proposed.…”

Section: Introductionmentioning

confidence: 99%

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

Zhou

Liu

et al. 2022

IEEE Access

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“…Interconnected rigid links are used to model a flexible structure using the port-Hamiltonian approach in [16]. The proposed model is a non-linear lumped parameter system.…”

Section: Introductionmentioning

confidence: 99%

“…However, many rigid links are needed to represent the high-frequency vibration of the flexible structure. The model proposed in [16] becomes very complex when the number of links increases and is impractical for control design. In [17], a passive linear quadratic gaussian (LQG) controller and damping injection are used to achieve the desired configuration of the flexible structure system, where the simulation results of a passive LQG controller on a mono-IPMC-actuated flexible structure are presented.…”

Section: Introductionmentioning

confidence: 99%

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

Zhou

Hu³

et al. 2021

Actuators

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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.

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“…In this category, we can quote the work of Mattioni et al [43], who developed a lumped scalable model and control strategy using PHS formalism to reproduce the basic mechanical properties of an IPMC-actuated compliant biomedical endoscope. The implemented control strategies successfully enable the desired equilibrium configuration and dynamic behavior to be achieved.…”

Section: Introductionmentioning

confidence: 99%

Modeling and Experimental Analysis of the Mass Loading Effect on Micro-Ionic Polymer Actuators Using Step Response Identification

Dadras

Ghenna

Grondel

et al. 2021

J. Microelectromech. Syst.

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This paper presents a linear electrochemomechanical model for microscale ionic actuators. A frequency-domain approach is used to facilitate model interpretation, simplify model application, and accelerate the generation of actuator-specific models. A system comprising a micro PEDOT:PSS/PEO actuator with external loading at its tip was modeled to incorporate the mass loading effect using the proposed approach. Analysis showed that the simulation results of the reported model were in agreement with the experimental measurements conducted with variability in the mass and input voltage. The success of the proposed modeling approach promises to enable its application in the control of microscale ionic actuators for potential biomedical applications.

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Modelling and control of an IPMC actuated flexible structure: A lumped port Hamiltonian approach

Cited by 19 publications

References 18 publications

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

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

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

Modeling and Experimental Analysis of the Mass Loading Effect on Micro-Ionic Polymer Actuators Using Step Response Identification

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