An hammerstein model based control method for shape memory alloy actuators

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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)2; Xu Z(徐壮)2; Zhao XG(赵新刚)2
	2019
会议日期	July 27-30, 2019
会议地点	Guangzhou, China
关键词	SMA smart material Hammerstein model adaptive control stability
页码	399-404
英文摘要	Shape 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.
源文献作者	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)
产权排序	1
会议录	Proceedings of the 38th Chinese Control Conference, CCC 2019
会议录出版者	IEEE Computer Society
会议录出版地	New York
语种	英语
ISSN号	1934-1768
ISBN号	978-988-15639-7-2
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/25877]
专题	沈阳自动化研究所_机器人学研究室
通讯作者	Zhang B(张弼)
作者单位	1.Institutes of Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110016, China 2.State Key Lab of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
推荐引用方式 GB/T 7714	Zhang B,Zhao M,Xu Z,et al. An hammerstein model based control method for shape memory alloy actuators[C]. 见:. Guangzhou, China. July 27-30, 2019.