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

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

Résultats de recherche: Contribution à un journal/une revueArticleRevue par des pairs

Résumé

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.

langue originaleAnglais
Pages (de - à)108-113
Nombre de pages6
journalIFAC-PapersOnLine
Volume52
Numéro de publication2
Les DOIs
Etat de la publicationPublié - 1 juin 2019
Evénement3rd IFAC Workshop on Control of Systems Governed by Partial Differential Equations, CPDE 2019 - Oaxaca, Mexique
Durée: 20 mai 201924 mai 2019

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