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

Hector Ramirez, Yann Le Gorrec, Heiko J. Zwart

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    3 Citations (Scopus)


    This paper deals with the control of a class of simplified models for flexible micro-grippers for DNA manipulation. The overall system is first modeled as a boundary controlled port-Hamiltonian system made up as the interconnection of an infinite-dimensional systems (modeled 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.
    Original languageUndefined
    Title of host publicationProceedings of the 52nd IEEE Conference on Decision and Control, CDC 2013
    Place of PublicationUSA
    PublisherIEEE Control Systems Society
    Number of pages6
    ISBN (Print)978-1-4673-5716-6
    Publication statusPublished - Dec 2013
    Event52nd IEEE Conference on Decision and Control, CDC 2013 - Florence, Italy
    Duration: 10 Dec 201313 Dec 2013
    Conference number: 52

    Publication series

    PublisherIEEE Control Systems Society


    Conference52nd IEEE Conference on Decision and Control, CDC 2013
    Abbreviated titleCDC


    • EWI-24241
    • METIS-302607
    • IR-88724

    Cite this