Output regulation of flexible optical fiber using the port Hamiltonian Framework

In recent days, the importance of continuum robot techniques have become crucial when talking about minimal invasive medical procedures for the human body. Most of the surgical procedures are done to safe lives, including surgeries, endoscopes, biopsies, etc. The following work presents a port Hamiltonian system approach for an optical fiber actuated in two perpendicular directions by a piezoelectric tube with a periodical and constant desired trajectory. The robot aim is to follow a periodical task in two directions with the highest accuracy possible. The piezotube model has been developed in a finite dimensional approach, while the rod has been studied in the infinite dimensional one. Furthermore, the system interconnection with this two considerations is studied. The controller is the Output Regulation which is also based on the Internal Model Principle technique of control. Also the stability proof was studied in this work, taking the principles for both interconnected system based on a mixed port Hamiltonian system. The experimental part was developed in two ways, for open and close loop systems and with different periodical tasks built by wave functions.