This paper addresses the control issue of a precise positioning system based on Magnetic Shape Memory Alloys (MSMAs). This family of smart materials exhibits a hysteresis phenomenon that needs to be properly addressed in order to build effective devices. A model-free control scheme is compared with two different model-based approaches which exploit an accurate hysteresis model to perform hysteresis cancellation or feedforward compensation. All the control schemes are based on a PID controller which is automatically tuned by solving a set of Linear Matrix Inequalities (LMIs) able to guarantee a desired exponential rate for the error convergence to zero. Finally, the comparison of model-free and model-based control schemes is performed using an experimental set-up to emphasize both the advantages and disadvantages of the different control strategies.
|Titolo:||Comparison of Model-free and Model-based Control Techniques for a Positioning Actuator based on Magnetic Shape Memory Alloys|
|Data di pubblicazione:||2015|
|Nome del convegno:||2015 IEEE International Conference on Mechatronics, ICM 2015|
|Digital Object Identifier (DOI):||http://dx.doi.org/10.1109/ICMECH.2015.7083989|
|Appare nelle tipologie:||4.1 Contributo in Atti di convegno|