Robust adaptive control of a Magnetic Shape Memory actuator for precise positioning

L. Riccardi, D. Naso, B. Turchiano, H. Janocha
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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.
磁形状记忆作动器精确定位的鲁棒自适应控制
由于其出色的应变能力,磁形状记忆致动器是一种很有前途的定位技术。它们的宽迟滞和对温度的依赖要求控制系统能够处理时变迟滞和其他不确定性。本文采用一种改进的Prandtl-Ishlinskii算子自适应捕获和补偿滞后量。为了提高自适应补偿器的性能,设计并集成了基于自适应边界技术的鲁棒自适应控制器。在1自由度线性定位样机上进行的微精度实验验证了该方法的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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