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This paper is concerned with the port-Hamiltonian modeling of a Timoshenko beam subject geometric nonlinearities through von Kármán strains, material nonlinearity considering hyperelasticity with the assumption of neo-Hookean or Mooney-Rivlin material, in addition to the incompressible deformation constraint that corresponds to the preservation of volume. The model is suitable for representing the behavior of rubber like beams within the range of moderate deformations and rotations. Numerical simulations are carried out to illustrate the accuracy of the proposed model.

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.

This paper proposes a method of balanced model reduction for constrained linear port Hamiltonian systems. Constrained linear port Hamiltonian systems are first written in a canonical descriptor form such that the Hamiltonian structure is preserved. The computations of the controllability and observability Gramians are then used to derive the balanced port Hamiltonian representation of the system. The method of flow constraint is applied to reduce the system. Finally, numerical simulations for the reduction of a micro mechanical actuator model is given to illustrate the effectiveness of the proposed method.