Port-Hamiltonian Modeling and IDA-PBC Control of an IPMC-Actuated Flexible Beam

International audience<div&gtIn this paper, the infinite-dimensional port-Hamiltonian modelling and control problem</div&gt<div&gtof a flexible beam actuated using ionic polymer metal composite (IPMC) actuators is investigated.</div&gt<div&gtThe port-Hamiltonian framework is used to propose an interconnected control model of the mechanical</div&gt<div&gtflexible beam and the IPMC actuator. The mechanical flexible dynamic is modelled as a</div&gt<div&gtTimoshenko beam, and the electric dynamics of the IPMCs are considered in the model. Furthermore,</div&gt<div&gta passivity-based control-strategy is used to obtain the desired configuration of the proposed interconnected</div&gt<div&gtsystem, and the closed-loop stability is analyzed using the early lumped approach. Lastly,</div&gt<div&gtnumerical simulations and experimental results are presented to validate the proposed model and</div&gt<div&gtthe effectiveness of the proposed control law.