Energy-Based Modeling and Hamiltonian LQG Control of a Flexible Beam Actuated by IPMC Actuators
| Affiliation auteurs | !!!! Error affiliation !!!! |
| Titre | Energy-Based Modeling and Hamiltonian LQG Control of a Flexible Beam Actuated by IPMC Actuators |
| Type de publication | Journal Article |
| Year of Publication | 2022 |
| Auteurs | Zhou W, Liu N, Wu Y, Ramirez H, Le Gorrec Y |
| Journal | IEEE ACCESS |
| Volume | 10 |
| Pagination | 12153-12163 |
| Type of Article | Article |
| ISSN | 2169-3536 |
| Mots-clés | Actuators, asymptotic stability, control design, Endoscopes, Flexible beam, IPMC, mathematical models, passivity-based LQG control, Port-Hamiltonian system, Stability analysis, Strain |
| Résumé | 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. |
| DOI | 10.1109/ACCESS.2022.3146367 |