Port-Hamiltonian Modeling and IDA-PBC Control of an IPMC-Actuated Flexible Beam
نویسندگان
چکیده
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 framework used to propose an interconnected model mechanical IPMC actuator. dynamic modelled as Timoshenko beam, electric dynamics IPMCs are considered in model. Furthermore, passivity-based control-strategy obtain desired configuration proposed system, closed-loop stability analyzed early lumped approach. Lastly, numerical simulations experimental results presented validate effectiveness law.
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ژورنال
عنوان ژورنال: Actuators
سال: 2021
ISSN: ['2076-0825']
DOI: https://doi.org/10.3390/act10090236