Exponential stabilization of a class of flexible microgrippers using dynamic boundary port Hamiltonian control.

Héctor Ramirez Estay (1) , Yann Le Gorrec (1) , Hans Zwart (2)

1 FEMTO-ST - Franche-Comté Électronique Mécanique, Thermique et Optique - Sciences et Technologies (UMR 6174)
2 University of Twente

This paper deals with the control of a class of simplified models for flexible micro-grippers for DNA manipulation. The overall system is first modelled as a boundary controlled port Hamiltonian system made up as the interconnection of an infinite dimensional system (modelled as an undamped Timoshenko beam) representing the flexible arm of the gripper with two finite dimensional systems representing the DNA bundle and the suspension/actuator mechanism. The base of the arm is clamped on the suspension mechanism leading to under actuated system. The controller considered under strict dissipative port Hamiltonian format uses the velocity of the base of the tweezers arm as input and generates a force as output. The exponential stability of the closed loop system is derived by checking simple conditions on both the infinite and finite dimensional system.

Domaines: Automatique / Robotique

Héctor Ramirez Estay, Yann Le Gorrec, Hans Zwart. Exponential stabilization of a class of flexible microgrippers using dynamic boundary port Hamiltonian control.. 52nd IEEE Conference on Decision and Control, CDC'13., Jan 2013, Italy. pp.1-6. ⟨hal-00910963⟩