Energy-based modeling and Hamiltonian LQG control of a flexible beam actuated by IPMC actuators
نویسندگان
چکیده
The control of a flexible beam using ionic polymer metal composites (IPMCs) is investigated in this paper. mechanical dynamics are modelled as Timoshenko beam. electric the IPMCs considered model. port-Hamiltonian framework used to propose an interconnected model and IPMC actuator. Furthermore, passive Hamiltonian structure-preserving linear quadratic Gaussian (LQG) controller achieve desired configuration system, asymptotic stability closed-loop system shown damping injection. An experimental setup built actuated by two patches validate proposed show performance law.
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ژورنال
عنوان ژورنال: IEEE Access
سال: 2022
ISSN: ['2169-3536']
DOI: https://doi.org/10.1109/access.2022.3146367