Constrained port Hamiltonian formulation of multiscale distributed parameter IPMC systems

In this paper, a constrained distributed parameter port-Hamiltonian model of the ionic polymer metal composite actuator is proposed. This model describes the multiscale structure of the system. Submodels are coupled by boundary multi-scale elements. In order to preserve the causality of the system, Lagrangian multipliers are introduced to deal with the coupling between the electro-stress diffusion in the polymer and the flexible beam structure of the actuator. Finally, a structure-preserving discretization scheme and some appropriate projections are used to derive an explicit model suitable for simulation. The accuracy of the model is verified using experimental data. (C) 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.