Port-Hamiltonian modeling and control of a curling HASEL actuator
arxiv(2024)
摘要
This paper is concerned with the modeling and control of a curling
Hydraulically Amplified Self-healing Electrostatic (HASEL) actuator using the
port-Hamiltonian (PH) approach. For that purpose, we use a modular approach and
consider the HASEL actuator as an interconnection of elementary subsystems.
Each subsystem is modeled by an electrical component consisting of a capacitor
in parallel with an inductor connected through the conservation of volume of
the moving liquid to a mechanical structure based on inertia, linear, and
torsional springs. The parameters are then identified, and the model is
validated on the experimental setup. Position control is achieved by using
Interconnection and Damping Assignment-Passivity Based Control (IDA-PBC) with
integral action (IA) for disturbance rejection. Simulation results show the
efficiency of the proposed controller.
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