Modeling and control of an IPMC actuated flexible beam under the port-Hamiltonian framework

Yongxin Wu, François Lamoline, Joseph Winkin, Yann Le Gorrec

Research output: Contribution to journalArticle

Abstract

This paper deals with the modeling and control problem of an ionic polymer metal composites (IPMC) actuated flexible beam. The mechanical dynamic of the flexible beam and the electrical dynamic of the IPMC actuators have been taken into account in the modeling approach. Furthermore, in order to achieve the desired configuration of this IPMC actuated flexible beam, a control strategy is proposed based on the Linear quadratic Gaussian (LQG) control and damping injection. Finally, the proposed model is validated on a real experimental set-up. The effectiveness of the proposed control strategy is shown by the simulation results based on the real physical parameters of the experimental set-up.

Original languageEnglish
Pages (from-to)108-113
Number of pages6
JournalIFAC-PapersOnLine
Volume52
Issue number2
DOIs
Publication statusPublished - 1 Jun 2019
Event3rd IFAC Workshop on Control of Systems Governed by Partial Differential Equations, CPDE 2019 - Oaxaca, Mexico
Duration: 20 May 201924 May 2019

Fingerprint

Hamiltonians
Composite materials
Polymers
Metals
Actuators
Damping

Keywords

  • Distributed control
  • Flexible beam
  • IPMC
  • LQG method
  • Port-Hamiltonian systems

Cite this

@article{caf3e1b71ecd446584b9bb9fe4a4425d,
title = "Modeling and control of an IPMC actuated flexible beam under the port-Hamiltonian framework",
abstract = "This paper deals with the modeling and control problem of an ionic polymer metal composites (IPMC) actuated flexible beam. The mechanical dynamic of the flexible beam and the electrical dynamic of the IPMC actuators have been taken into account in the modeling approach. Furthermore, in order to achieve the desired configuration of this IPMC actuated flexible beam, a control strategy is proposed based on the Linear quadratic Gaussian (LQG) control and damping injection. Finally, the proposed model is validated on a real experimental set-up. The effectiveness of the proposed control strategy is shown by the simulation results based on the real physical parameters of the experimental set-up.",
keywords = "Distributed control, Flexible beam, IPMC, LQG method, Port-Hamiltonian systems",
author = "Yongxin Wu and Fran{\cc}ois Lamoline and Joseph Winkin and {Le Gorrec}, Yann",
year = "2019",
month = "6",
day = "1",
doi = "10.1016/j.ifacol.2019.08.019",
language = "English",
volume = "52",
pages = "108--113",
journal = "IFAC-PapersOnLine",
issn = "2405-8963",
publisher = "IFAC Secretariat",
number = "2",

}

Modeling and control of an IPMC actuated flexible beam under the port-Hamiltonian framework. / Wu, Yongxin; Lamoline, François; Winkin, Joseph; Le Gorrec, Yann.

In: IFAC-PapersOnLine, Vol. 52, No. 2, 01.06.2019, p. 108-113.

Research output: Contribution to journalArticle

TY - JOUR

T1 - Modeling and control of an IPMC actuated flexible beam under the port-Hamiltonian framework

AU - Wu, Yongxin

AU - Lamoline, François

AU - Winkin, Joseph

AU - Le Gorrec, Yann

PY - 2019/6/1

Y1 - 2019/6/1

N2 - This paper deals with the modeling and control problem of an ionic polymer metal composites (IPMC) actuated flexible beam. The mechanical dynamic of the flexible beam and the electrical dynamic of the IPMC actuators have been taken into account in the modeling approach. Furthermore, in order to achieve the desired configuration of this IPMC actuated flexible beam, a control strategy is proposed based on the Linear quadratic Gaussian (LQG) control and damping injection. Finally, the proposed model is validated on a real experimental set-up. The effectiveness of the proposed control strategy is shown by the simulation results based on the real physical parameters of the experimental set-up.

AB - This paper deals with the modeling and control problem of an ionic polymer metal composites (IPMC) actuated flexible beam. The mechanical dynamic of the flexible beam and the electrical dynamic of the IPMC actuators have been taken into account in the modeling approach. Furthermore, in order to achieve the desired configuration of this IPMC actuated flexible beam, a control strategy is proposed based on the Linear quadratic Gaussian (LQG) control and damping injection. Finally, the proposed model is validated on a real experimental set-up. The effectiveness of the proposed control strategy is shown by the simulation results based on the real physical parameters of the experimental set-up.

KW - Distributed control

KW - Flexible beam

KW - IPMC

KW - LQG method

KW - Port-Hamiltonian systems

UR - http://www.scopus.com/inward/record.url?scp=85072401064&partnerID=8YFLogxK

U2 - 10.1016/j.ifacol.2019.08.019

DO - 10.1016/j.ifacol.2019.08.019

M3 - Article

AN - SCOPUS:85072401064

VL - 52

SP - 108

EP - 113

JO - IFAC-PapersOnLine

JF - IFAC-PapersOnLine

SN - 2405-8963

IS - 2

ER -