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

Hector Ramirez; Yann Le Gorrec; Heiko J. Zwart

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 proceeding › Conference contribution › Academic › peer-review

Abstract

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 language	Undefined
Title of host publication	Proceedings of the 52nd IEEE Conference on Decision and Control, CDC 2013
Place of Publication	USA
Publisher	IEEE
Pages	460-465
Number of pages	6
ISBN (Print)	978-1-4673-5716-6
Publication status	Published - Dec 2013
Event	52nd IEEE Conference on Decision and Control, CDC 2013 - Florence, Italy Duration: 10 Dec 2013 → 13 Dec 2013 Conference number: 52

Publication series

Name
Publisher	IEEE Control Systems Society

Conference

Conference	52nd IEEE Conference on Decision and Control, CDC 2013
Abbreviated title	CDC
Country/Territory	Italy
City	Florence
Period	10/12/13 → 13/12/13

Keywords

EWI-24241
METIS-302607
IR-88724

Access to Document

Cite this

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title = "Exponential stabilization of a class of flexible microgrippers using dynamic boundary port Hamiltonian control.",

abstract = "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.",

keywords = "EWI-24241, METIS-302607, IR-88724",

author = "Hector Ramirez and \{Le Gorrec\}, Yann and Zwart, \{Heiko J.\}",

year = "2013",

month = dec,

language = "Undefined",

isbn = "978-1-4673-5716-6",

publisher = "IEEE",

pages = "460--465",

booktitle = "Proceedings of the 52nd IEEE Conference on Decision and Control, CDC 2013",

address = "United States",

note = "52nd IEEE Conference on Decision and Control, CDC 2013 ; Conference date: 10-12-2013 Through 13-12-2013",

}

Ramirez, H, Le Gorrec, Y & Zwart, HJ 2013, Exponential stabilization of a class of flexible microgrippers using dynamic boundary port Hamiltonian control. in Proceedings of the 52nd IEEE Conference on Decision and Control, CDC 2013. IEEE, USA, pp. 460-465, 52nd IEEE Conference on Decision and Control, CDC 2013, Florence, Italy, 10/12/13. <http://eprints.eemcs.utwente.nl/secure2/24241/01/CDC-2013-1697.pdf>

Exponential stabilization of a class of flexible microgrippers using dynamic boundary port Hamiltonian control. / Ramirez, Hector; Le Gorrec, Yann; Zwart, Heiko J.
Proceedings of the 52nd IEEE Conference on Decision and Control, CDC 2013. USA: IEEE, 2013. p. 460-465.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

TY - GEN

T1 - Exponential stabilization of a class of flexible microgrippers using dynamic boundary port Hamiltonian control.

AU - Ramirez, Hector

AU - Le Gorrec, Yann

AU - Zwart, Heiko J.

N1 - Conference code: 52

PY - 2013/12

Y1 - 2013/12

N2 - 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.

AB - 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.

KW - EWI-24241

KW - METIS-302607

KW - IR-88724

M3 - Conference contribution

SN - 978-1-4673-5716-6

SP - 460

EP - 465

BT - Proceedings of the 52nd IEEE Conference on Decision and Control, CDC 2013

PB - IEEE

CY - USA

T2 - 52nd IEEE Conference on Decision and Control, CDC 2013

Y2 - 10 December 2013 through 13 December 2013

ER -