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An hammerstein model based control method for shape memory alloy actuators
Zhang B(张弼)1,2; Zhao M(赵明)1; Xu Z(徐壮)1; Zhao XG(赵新刚)1
Department机器人学研究室
Conference Name38th Chinese Control Conference, CCC 2019
Conference DateJuly 27-30, 2019
Conference PlaceGuangzhou, China
Author of SourceChinese Association of Automation (CAA) ; Guangdong University of Technology ; Systems Engineering Society of China (SESC) ; Technical Committee on Control Theory (TCCT), Chinese Association of Automation (CAA)
Source PublicationProceedings of the 38th Chinese Control Conference, CCC 2019
PublisherIEEE Computer Society
Publication PlaceNew York
2019
Pages399-404
Indexed ByEI
EI Accession number20194507629654
Contribution Rank1
ISSN1934-1768
ISBN978-988-15639-7-2
KeywordSMA smart material Hammerstein model adaptive control stability
AbstractShape memory alloy (SMA) is a promising smart metallic material, which has the ability to recover its shape when heated. This characteristic enables SMA to serve as an alternative to replace conventional actuators. However, there also exist hysteresis nonlinearities and parameter uncertainties, which make SMA actuators difficult to model and control. This paper develops a gray-box identification and control approach for SMA actuators. To copy with hysteresis nonlinearities, this plant is described as an Hammerstein model, which is a cascade connection of a nonlinear function followed by a linear sub-system. Then the parameter adaptation is performed based on a robust recursive estimator, and the control law compensates the modeling error through incorporating the unmodeled dynamics estimation. The system stability is ensured and the experimental results verify the effectiveness of the proposed method.
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/25877
Collection机器人学研究室
Affiliation1.State Key Lab of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.Institutes of Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China
Recommended Citation
GB/T 7714
Zhang B,Zhao M,Xu Z,et al. An hammerstein model based control method for shape memory alloy actuators[C]//Chinese Association of Automation (CAA), Guangdong University of Technology, Systems Engineering Society of China (SESC), Technical Committee on Control Theory (TCCT), Chinese Association of Automation (CAA). New York:IEEE Computer Society,2019:399-404.
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