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Modeling of shape memory alloy actuator based on hammerstein model
Zhang B(张弼)1,3; Zhao XG(赵新刚)1; Zhang DH(张道辉)2; Li, Xiaoguang1,2
作者部门机器人学研究室
会议名称2nd International Conference on Robotics and Automation Engineering, ICRAE 2017
会议日期December 29-31, 2017
会议地点Shanghai, China
会议录名称2017 2nd International Conference on Robotics and Automation Engineering, ICRAE 2017
出版者IEEE
出版地New York
2017
页码186-189
收录类别EI
EI收录号20183005612347
产权排序1
ISBN号978-1-5386-1306-1
摘要Shape memory alloy (SMA) is a promising smart metallic material, which has the ability to recover its shape when heated. This interesting characteristic enables SMA to serve as an alternative to replace conventional actuators. This brief introduces a novel modeling scheme for SMA actuators. The nonlinear plant is described as an Hammerstein blockoriented model. The model parameters are identified by the recursive least squares algorithm, which is usable for online modeling and real-Time control. The convergence property of the parameter estimation can be guaranteed in the presence of persistent excitation. Experimental results have shown that the modeling scheme is effective. Its comparison with a mechanism model has demonstrated the merits of an Hammerstein model.
语种英语
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/22294
专题机器人学研究室
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Science, Shenyang 110016, China
2.Universidade Federal Do Rio Grande Do sul (UFRGS), Instituto de Inforatica, Porto Alegre, RS, Brazil
3.Instituto Federal Sul-Rio-Grandense (IFSUL), Campus Charqueadas, RS, Brazil
推荐引用方式
GB/T 7714
Zhang B,Zhao XG,Zhang DH,et al. Modeling of shape memory alloy actuator based on hammerstein model[C]. New York:IEEE,2017:186-189.
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