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Disturbance compensation-based output feedback adaptive control for shape memory alloy actuator system
International Journal of Advanced Robotic Systems ( IF 2.3 ) Pub Date : 2021-02-27 , DOI: 10.1177/1729881421993998
Xiaoguang Li 1, 2, 3, 4 , Bi Zhang 1, 2 , Daohui Zhang 1, 2 , Xingang Zhao 1, 2 , Jianda Han 5
Affiliation  

Shape memory alloy (SMA) has been utilized as the material of smart actuators due to the miniaturization and lightweight. However, the nonlinearity and hysteresis of SMA material seriously affect the precise control. In this article, a novel disturbance compensation-based adaptive control scheme is developed to improve the control performance of SMA actuator system. Firstly, the nominal model is constructed based on the physical process. Next, an estimator is developed to online update not only the unmeasured system states but also the total disturbance. Then, the novel adaptive controller, which is composed of the nominal control law and the compensation control law, is designed. Finally, the proposed scheme is evaluated in the SMA experimental setup. The comparison results have demonstrated that the proposed control method can track reference trajectory accurately, reject load variations and stochastic disturbances timely, and exhibit satisfactory robust stability. The proposed control scheme is system independent and has some potential in other types of SMA-actuated systems.



中文翻译:

基于扰动补偿的形状记忆合金执行器系统输出反馈自适应控制

形状记忆合金(SMA)因其小型化和轻量化而被用作智能执行器的材料。但是,SMA材料的非线性和磁滞严重影响了精确控制。本文提出了一种新颖的基于干扰补偿的自适应控制方案,以提高SMA执行器系统的控制性能。首先,基于物理过程构造名义模型。接下来,开发了一种估计器,不仅可以在线更新未测系统状态,还可以在线更新总干扰。然后,设计了由标称控制律和补偿控制律组成的新型自适应控制器。最后,在SMA实验装置中对提出的方案进行了评估。比较结果表明,所提出的控制方法能够准确地跟踪参考轨迹,及时消除载荷变化和随机干扰,并具有令人满意的鲁棒稳定性。所提出的控制方案与系统无关,并且在其他类型的SMA驱动系统中具有一定的潜力。

更新日期:2021-02-28
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