An hammerstein model based control method for shape memory alloy actuators
文献类型：会议论文
| 作者 | Zhao XG(赵新刚)2 ; Xu Z(徐壮)2; Zhao M(赵明)2; Zhang B(张弼)1,2
|
| 出版日期 | 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 |
| 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 |
| 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 | Zhao XG,Xu Z,Zhao M,et al. An hammerstein model based control method for shape memory alloy actuators[C]. 见:. Guangzhou, China. July 27-30, 2019. |
入库方式： OAI收割
来源：沈阳自动化研究所
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