{"title":"Robust adaptive control of a Magnetic Shape Memory actuator for precise positioning","authors":"L. Riccardi, D. Naso, B. Turchiano, H. Janocha","doi":"10.1109/ACC.2011.5990837","DOIUrl":null,"url":null,"abstract":"Due to their outstanding strain capability, Magnetic Shape Memory actuators are a promising technology for positioning systems. Their wide hysteresis and dependence on temperature require a control system capable to cope with time-varying hysteresis as well as other uncertainties. In this paper, we adopt a modified Prandtl-Ishlinskii operator to capture and compensate by inverse model the hysteresis adaptively. A robust adaptive controller based on adaptive bounding techniques is then designed and integrated in order to improve the performance of the adaptive compensator. Experimental results on a 1DOF linear positioning prototype with micrometric precision confirm the effectiveness of the approach.approach.","PeriodicalId":225201,"journal":{"name":"Proceedings of the 2011 American Control Conference","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2011-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"16","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the 2011 American Control Conference","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ACC.2011.5990837","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 16
Abstract
Due to their outstanding strain capability, Magnetic Shape Memory actuators are a promising technology for positioning systems. Their wide hysteresis and dependence on temperature require a control system capable to cope with time-varying hysteresis as well as other uncertainties. In this paper, we adopt a modified Prandtl-Ishlinskii operator to capture and compensate by inverse model the hysteresis adaptively. A robust adaptive controller based on adaptive bounding techniques is then designed and integrated in order to improve the performance of the adaptive compensator. Experimental results on a 1DOF linear positioning prototype with micrometric precision confirm the effectiveness of the approach.approach.