This paper considers a control strategy for systems affected by time-varying hysteretic phenomena, such as those observed in magnetic shape memory alloys subject to temperature variations. The proposed controller is based on a scheme that combines feed-forward cancellation of the hysteresis using a Modified Prandtl-Ishlinskii inverse model with a closed-loop control law designed to address the cancellation errors. Both the inverse hysteresis model and the closed-loop law feature adjustable parameters that are adapted on-line by means of learning laws based on Lyapunov design tools. The effectiveness of the proposed approach is confirmed by experiments on a prototypical micro-metric positioning system containing a bar of magnetic shape memory alloy as main actuating element.
|Autori interni:||NASO, David|
|Titolo:||Adaptive control of positioning systems with hysteresis based on magnetic shape memory alloys|
|Rivista:||IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY|
|Data di pubblicazione:||2013|
|Digital Object Identifier (DOI):||10.1109/TCST.2012.2222645|
|Appare nelle tipologie:||1.1 Articolo in rivista|