文章基本信息

标题：Modelling and control of a class of lumped beam with distributed control
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作者：Andrea Mattioni ; Yongxin Wu ; Hector Ramirez 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2018
卷号：51
期号：3
页码：217-222
DOI：10.1016/j.ifacol.2018.06.057
语种：English
出版社：Elsevier
摘要：AbstractA 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.
关键词：KeywordsPort-Hamiltonian systemIDA-PBCmedical endoscopeactuated beam