Details

Autor(en) / Beteiligte

• Riccardi, L.
• Naso, D.
• Turchiano, B.
• Janocha, H.

Titel

Adaptive approximation-based control of hysteretic unconventional actuators

Ist Teil von

• 2011 50th IEEE Conference on Decision and Control and European Control Conference, 2011, p.958-963

Ort / Verlag

IEEE

Erscheinungsjahr

2011

Quelle

IEEE/IET Electronic Library

Beschreibungen/Notizen

• In this paper we develop an algorithm for adaptive control of unconventional actuators based on Prandtl-Ishlinskii models and Lyapunov design. The chosen family of models is general enough to capture the strongly variable shapes of the hysteresis exhibited by some electro-active materials and has an inverse model that can be computed analytically. The approach proposed in this paper adapts the parameters of the model with a learning law based on the minimization of the tracking error, and handles the parameters having a nonlinear influence on the output of the model by means of linearization. An outer position loop is then introduced to compensate the residual compensation error and further improve the tracking performance. The advantages and limitations of the approach are discussed and confirmed by experiments on a mechatronic position actuator based on magnetic shape memory alloys.