Abstract
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.
Highlights
Invasive surgery with the application of different types of endoscopes has been developed in recent years
The paper is organized as follows: In Section 2, we present the port-Hamiltonian formulation of the ionic polymer metal composite (IPMC)-actuated flexible beam system modelled by sets of partial differential equations (PDEs) and an ordinary differential equation (ODE)
We investigate the modeling and the control design problem of a IPMC-actuated flexible beam using the port-Hamiltonian approach
Summary
Invasive surgery with the application of different types of endoscopes has been developed in recent years. The physical properties of IPMC-actuated endoscopes result in a complex multiphysical modelling and non-linear infinite dimensional control problem. This motivates us to use the port-Hamiltonian framework to address the modelling and control of an actuated endoscope model. The main contribution of this paper is that a distributed parameter interconnected model with a multi-IPMC actuator is investigated to deal with the flexible nature of the structure. The paper is organized as follows: In Section 2, we present the port-Hamiltonian formulation of the IPMC-actuated flexible beam system modelled by sets of partial differential equations (PDEs) and an ordinary differential equation (ODE).
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