Ning LIU : "Hamiltonian port modeling and distributed control of flexible structures: application to biomedical endoscopes with electroactive polymer-based actuators"

PhD Works of Ning LIU : "Hamiltonian port modeling and distributed control of flexible structures: application to biomedical endoscopes with electroactive polymer-based actuators"

Abstract : This thesis deals with the multiphysical modeling and the distributed control of flexible structures actuated by Ionic Polymer Metal Composite (IPMC) actuators. We firstly propose a model for the IPMC actuator using infinite dimensional port-Hamiltonian formulations in order to tackle the multiphysical and multiscale couplings. Lagrange multipliers are used to handle the mechanical constraints appearing in the actuator. The mechanical structure of the flexible structure is then modeled in 1D with beam models and in 2D with a thin shell model. Secondly, two structure preserving discretization methods are presented and extended to infinite dimensional dissipative port-

Hamiltonian system with distributed input. The proposed IPMC actuator model is then discretized using the structure preserving finite differences method on staggered grids and validated on experimental data. Thirdly, we propose an in-domain distributed control law on a simplified model i.e. the vibrating string actuated with patches, that allows to shape the total energy of the system and to inject damping in order to stabilize the overall system with predefined performances.

Jury Composition :

Yann LE GORREC, Professeur des Universités, École Nationale Supérieure de Mécanique et des Microtechniques, PhD Director

Thomas MEURER, Professeur Kiel, University, Reporter

Edouard LAROCHE, Professeur des Universités, Université de Strasbourg, Reporter

Mme Françoise COUENNE, Chargé de recherche, CNR,  Reviewer

Laurent LEFEVRE, Professeur des Universités, Grenoble INP-Esisar, Reviewer

Yongxin WU,Maître de conférences, École Nationale Supérieure de Mécanique et des Microtechniques, PhD Co-director

Localization : Amphithéâtre Pierre Mesnage - ENSMM 26, Rue de l'Epitaphe - 25000 Besançon