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

Zhou, Weijun; Wu, Yongxin; Hu, Haiqiang; Li, Yanjun; Wang, Yu

doi:10.3390/act10090236

Cited by 8 publications

(5 citation statements)

References 27 publications

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“…In fact, the middle part of IPMC is a polymer membrane, which can promote ion exchange [11,12], IPMC's output force is smaller and its ion exchange membrane can easily break, so many researchers seek to enhance the performance of IPMC with reinforced material in the ion exchange membrane. Tere are also many researchers looking for new molding processes, such as the hydrogel printing technology researched by Hong Chen and others [13].…”

Section: Introductionmentioning

confidence: 99%

Preparation and Electrochemical Performance Analysis of Flexible Ionic Polymers by Freeze-Drying Technology

Zhao

Shao

Zhang

et al. 2022

Advances in Materials Science and Engineering

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With the development of bionics and marine science, a new artificial muscle material, IPMC (ion-exchange polymer metal composite), has attracted significant attention. However, the performance issues, as well as problems associated with the preparation of IPMC, have limited its development. In this study, we use the freeze-drying technique, successfully creating a new type of enhanced carbon nanotube IPMC material. Moreover, we also use the method of cyclic voltammetry, ac impedance, and the constant current charge and discharge method to analyze and evaluate the multiwalled carbon nanotube (MWCNT)-reinforced IPMC produced by freeze-drying technology. Freeze-dried IPMC has a higher moisture content, which is 1.58 times higher than that of ordinary IPMC. The pore and multiwalled carbon nanotube (MWCNT) in the ion exchange membrane are distributed more homogeneously. The technology prepared by IPMC has superior electrical performance. Under a 2 v scanning interval and a scanning speed of 50 mV/s, its specific capacitance can reach 247.5335 mF/cm−2, which is 24 times that of normal IPMC. Under the same conditions, its conductivity can reach 0.29391 mS/cm, far higher than that of ordinary IPMC. Furthermore, the preparation process is also safer. This method provides a new strategy for the future preparation and usage of IPMC.

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Section: Introductionmentioning

confidence: 99%

Preparation and Electrochemical Performance Analysis of Flexible Ionic Polymers by Freeze-Drying Technology

Zhao

Shao

Zhang

et al. 2022

Advances in Materials Science and Engineering

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“…On the other hand, the PH approach is well suited passivity based control design with clear physical interpretation, such as energy shaping and control by interconnection and damping assignment (IDA-PBC) [14]. The PH approach and IDA-PBC control method have been investigated for the modeling and control of a flexible beam using the Ionic Polymer Metal Composite (IPMC) actuators in [15]. In this work, the flexible beam has been considered under small deformation and modeled by a linear infinite dimensional system and a very simple RC circuit model has been considered for the IPMC actuator.…”

Section: Introductionmentioning

confidence: 99%

“…The geometry of the HASEL pouch is investigated and based on this analysis, a PH dynamic model is established using a non linear spring-damper system to approximate the mechanical behavior of the flowing liquid in the pouches. Different from to the work presented in [15], a precise model is proposed considering both the electrical and mechanical parts of the actuator, leading to a non linear finite dimensional model in this paper. A control law based on IDA-PBC method is employed to achieve the desired equilibrium position.…”

Section: Introductionmentioning

confidence: 99%

“…A control law based on IDA-PBC method is employed to achieve the desired equilibrium position. An integral action is added to the previous controller to cope with the uncertainties in the load mass which has not been considered in [15]. The proposed PH model is identified and validated by an experimental setup and the proposed control method is also validated by the same experimental setup which is described in Fig.…”

Section: Introductionmentioning

confidence: 99%

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Modeling and Position Control of the HASEL Actuator via Port-Hamiltonian Approach

Yeh

Pinto

et al. 2022

IEEE Robot. Autom. Lett.

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This paper deals with the modeling and control problem of a Hydraulically Amplified Self-healing Electrostatic (HASEL) actuator based on the port-Hamiltonian framework. A nonlinear spring-damper system is used to approximate the mechanical deformation of the actuator due to the motion of the fluid while a nonlinear capacitance is used to approximate the electric behavior of the system. The actuator position control strategy is investigated based on the Interconnection Damping Assignment-Passivity Based Control (IDA-PBC) method, with further Integral Actions (IA) added to cope with load uncertainties. The proposed model and control laws are validated on an experimental benchmark. The experimental tests demonstrate that the proposed model is accurate up to 94% of fitness. The controllers allow assigning the actuator position with ramp and sinusoidal references with the relative error less than 5%. At last, the robustness of the proposed IDA-PBC controller with IA has been shown with the experimental result for the unknown load disturbance rejection.

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“…A detailed list of these problems and the solutions achieved can be found in [3,4]. Some recent solutions to damp the vibrations of FLR are: the control based on Port-Hamiltonian modeling [5], the sliding mode control [6], the adaptive control [7], the reinforcement learning control [8] and the fuzzy neural network control [9]. Moreover, multi-loop schemes have been used to control FLR like in [10,11], in which the inner loop carried out the position control and the outer loop the vibration attenuation.…”

Section: Introductionmentioning

confidence: 99%

Fractional Control of a Lightweight Single Link Flexible Robot Robust to Strain Gauge Sensor Disturbances and Payload Changes

2021

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In this paper, a method to control one degree of freedom lightweight flexible manipulators is investigated. These robots have a single low-frequency and high amplitude vibration mode. They hold actuators with high friction, and sensors which are often strain gauges with offset and high-frequency noise. These problems reduce the motion’s performance and the precision of the robot tip positioning. Moreover, since the carried payload changes in the different tasks, that vibration frequency also changes producing underdamped or even unstable time responses of the closed-loop control system. The actuator friction effect is removed by using a robust two degrees of freedom PID control system which feeds back the actuator position. This is called the inner loop. After, an outer loop is closed that removes the link vibrations and is designed based on the combination of the singular perturbation theory and the input-state linearization technique. A new controller is proposed for this outer loop that: (1) removes the strain gauge offset effects, (2) reduces the risk of saturating the actuator due to the high-frequency noise of strain gauges and (3) achieves high robustness to a change in the payload mass. This last feature prompted us to use a fractional-order PD controller. A procedure for tuning this controller is also proposed. Simulated and experimental results are presented that show that its performance overcomes those of PD controllers, which are the controllers usually employed in the input-state linearization of second-order systems.

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

Cited by 8 publications

References 27 publications

Preparation and Electrochemical Performance Analysis of Flexible Ionic Polymers by Freeze-Drying Technology

Preparation and Electrochemical Performance Analysis of Flexible Ionic Polymers by Freeze-Drying Technology

Modeling and Position Control of the HASEL Actuator via Port-Hamiltonian Approach

Fractional Control of a Lightweight Single Link Flexible Robot Robust to Strain Gauge Sensor Disturbances and Payload Changes

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