IEEE Access (Jan 2022)

Energy-Based Modeling and Hamiltonian LQG Control of a Flexible Beam Actuated by IPMC Actuators

  • Weijun Zhou,
  • Ning Liu,
  • Yongxin Wu,
  • Hector Ramirez,
  • Yann Le Gorrec

DOI
https://doi.org/10.1109/ACCESS.2022.3146367
Journal volume & issue
Vol. 10
pp. 12153 – 12163

Abstract

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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.

Keywords