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

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

doi:10.1016/j.ifacol.2019.08.019

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

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

Universite de Namur

Résultats de recherche: Contribution à un journal/une revue › Article › Revue par des pairs

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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 originale	Anglais
Pages (de - à)	108-113
Nombre de pages	6
journal	IFAC-PapersOnLine
Volume	52
Numéro de publication	2
Les DOIs	https://doi.org/10.1016/j.ifacol.2019.08.019
Etat de la publication	Publié - 1 juin 2019
Evénement	3rd IFAC Workshop on Control of Systems Governed by Partial Differential Equations, CPDE 2019 - Oaxaca, Mexique Durée: 20 mai 2019 → 24 mai 2019

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10.1016/j.ifacol.2019.08.019

1-s2.0-S2405896319303398-mainVersion finale publiée, 795 KB

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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{\c c}ois Lamoline and Joseph Winkin and {Le Gorrec}, Yann",

note = "Funding Information: The contribution of Y. Wu and Y. Le Gorrec has been done within the context of the ANR-DFG (French-German) project INFIDHEM and the Bourgogne-Franche-comt{\'e} Region ANER project under the reference codes ANR-16-CE92-0028 and 2018Y-06145 respectively. Fran{\c c}ois Lamoline is a FRIA Research Fellow under the grant F 3/5/5-MCF/BC and would like to thank the financial support of F.R.S-FNRS. Publisher Copyright: {\textcopyright} 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.; 3rd IFAC Workshop on Control of Systems Governed by Partial Differential Equations, CPDE 2019 ; Conference date: 20-05-2019 Through 24-05-2019",

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doi = "10.1016/j.ifacol.2019.08.019",

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AU - Wu, Yongxin

AU - Lamoline, François

AU - Winkin, Joseph

AU - Le Gorrec, Yann

N1 - Funding Information: The contribution of Y. Wu and Y. Le Gorrec has been done within the context of the ANR-DFG (French-German) project INFIDHEM and the Bourgogne-Franche-comté Region ANER project under the reference codes ANR-16-CE92-0028 and 2018Y-06145 respectively. François Lamoline is a FRIA Research Fellow under the grant F 3/5/5-MCF/BC and would like to thank the financial support of F.R.S-FNRS. Publisher Copyright: © 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

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

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

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