Modelling and control of a class of lumped beam with distributed control. Issue 3 (2018)

• Record Type: Journal Article
• Authors: Mattioni, Andrea; Wu, Yongxin; Ramirez, Hector; Gorrec, Yann Le; Macchelli, Alessandro
• Is Part Of: IFAC-PapersOnLine. Volume 51:Issue 3(2018)
• Page Start: 217
• Page End: 222
• Publication Date: 2018
• Subjects: Port-Hamiltonian system -- IDA-PBC -- medical endoscope -- actuated beam; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2018.06.057
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: A simple lumped port-Hamiltonian model for an actuated flexible beam is proposed. The flexible beam is modelled as a n-DOF actuated beam, and the port-Hamiltonian model is constructed by a systematic interconnection of the links of the beam. The proposed model is then instrumental to derive a stabilizing controller using interconnection and damping assignment - passivity based control considering an underactuated scenario. The work has been developed motivated by the practical application to a medical endoscope with distributed actuation by electro-active polymers. The lumped parameter model offers the possibility of having input/output ports in every joint between successive links, this permits to easily model the action of the actuators as an input force applied to a specific joint.