Energy-Based Modeling of Ionic Polymer–Metal Composite Actuators Dedicated to the Control of Flexible Structures

This article deals with the control-oriented energy-based modeling of ionic polymer–metal composite (IPMC) patches using multiscale infinite dimensional port-Hamiltonian formulations and Lagrange multipliers. Inspired by work Nishida et al. in 2012, but considering different assumptions, this focuses on constraints arising from coupling between polymer gel compliant mechanical structure actuator, under quasi-static assumption for gel, leading to a constrained system. The geometric overall system associated energy balance are derived. proposed model IPMC actuator allows deriving controllers via control design methods clear physical interpretation. is further discretized space preserving finite difference method. multipliers eliminated coordinate projections. Simulations compared experimental results. With proper discretization numbers, our consistent Finally, exploited connect 2-D flexible stemming endoscope.