Abstract
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.
Highlights
The port-Hamiltonian system (PHS) formulation and passivity-based control have been widely used and demonstrated to be effective for the modeling, analysis and control of nonlinear systems [1], [2]
ionic polymer metal composites (IPMCs) ACTUATED FLEXIBLE BEAM We modelled the IPMC actuated endoscope using the PHS framework
The mechanical flexible dynamics are modelled as a Timoshenko beam, while the electric dynamics of the IPMCs are considered a lumped RLC equivalent circuit model
Summary
The port-Hamiltonian system (PHS) formulation and passivity-based control have been widely used and demonstrated to be effective for the modeling, analysis and control of nonlinear systems [1], [2]. By choosing the weighting operators in a special manner, the designed optimal LQG controller is passive and has a Hamiltonian structure, which can guarantee the asymptotic stability of the closed-loop system even when we apply the reduced-order optimal controller on the original PDE-ODE system. This stability issue is not considered in previous works [15], [22].
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