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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
Department机器人学研究室
Conference Name2nd International Conference on Robotics and Automation Engineering, ICRAE 2017
Conference DateDecember 29-31, 2017
Conference PlaceShanghai, China
Source Publication2017 2nd International Conference on Robotics and Automation Engineering, ICRAE 2017
PublisherIEEE
Publication PlaceNew York
2017
Pages186-189
Indexed ByEI
EI Accession number20183005612347
Contribution Rank1
ISBN978-1-5386-1306-1
AbstractShape 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.
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/22294
Collection机器人学研究室
Affiliation1.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
Recommended Citation
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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