Port-Hamiltonian Modeling and IDA-PBC Control of an IPMC-Actuated Flexible Beam
In this paper, the infinite-dimensional port-Hamiltonian modelling and control problem of a flexible beam actuated using ionic polymer metal composite (IPMC) actuators is investigated. The port-Hamiltonian framework is used to propose an interconnected control model of the mechanical flexible beam a...
| Main Authors: | , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2021-09-01
|
| Series: | Actuators |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-0825/10/9/236 |