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
Robust adaptive control of a Magnetic Shape Memory actuator for precise positioning / Riccardi, L.; Naso, David; Turchiano, Biagio; Janocha, H.. - STAMPA. - (2011), pp. 5400-5405. (Intervento presentato al convegno 2011 American Control Conference, ACC 2011 tenutosi a San Francisco, CA nel June 29 - July 1, 2011) [10.1109/ACC.2011.5990837].
Robust adaptive control of a Magnetic Shape Memory actuator for precise positioning
NASO, David;TURCHIANO, Biagio;
2011-01-01
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 approachI documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
