Modelling and control of an IPMC actuated flexible structure: A lumped port Hamiltonian approach

This paper deals with the finite dimensional modelling and control of an electro-active polymer (EAP) actuated flexible structure. This model reproduces the basic mechanical properties of a class of one dimensional flexible endoscope. The flexible structure and the EAP actuator are both modelled as port-Hamiltonian systems. The EAP actuator is interconnected with the flexible structure in a power preserving manner such that the global system is again a PHS. Using the obtained model, two passivity based control strategies are applied to derive the controllers which achieve a desired equilibrium configuration with desired dynamic behaviour. An experimental benchmark composed of the Ionic Polymer Metal Composites patches glued to a flexible beam is used to validate the proposed model and control law.