Abstract 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.

中文翻译：

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IPMC 驱动柔性结构的建模和控制：集总端口哈密顿方法

摘要 本文涉及电活性聚合物 (EAP) 驱动的柔性结构的有限维建模和控制。该模型再现了一类一维柔性内窥镜的基本机械特性。柔性结构和 EAP 执行器都被建模为端口-汉密尔顿系统。EAP 执行器以功率保存方式与柔性结构互连，从而使全球系统再次成为 PHS。使用获得的模型，应用两种基于被动的控制策略来导出控制器，这些控制器实现具有所需动态行为的所需平衡配置。由粘在柔性梁上的离子聚合物金属复合材料贴片组成的实验基准用于验证所提出的模型和控制律。