9 April 2010 Laguerre model based adaptive control of antagonistic shape memory alloy (SMA) actuator
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Abstract
Shape Memory Alloy are considered as one of the best active materials for actuation due to their remarkable properties, mainly their large strain and their power to weight ratio. On the other hand, they also have undesirable features that limit applications. One reason is their large thermal time constant. Antagonistic actuators are generally presented as a possible solution to this problem. Another reason is the non-linear behavior inherent to the hysteresis of the phase transition used for the actuation. This paper addresses this problem in the case of antagonistic actuator using an adaptive control scheme where the identification is performed using Laguerre filters. Results obtained on experimental setup prove that this control scheme is able to handle the complex non-linearities of hysteretic antagonistic actuator.
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S. Kannan, C. Giraud-Audine, and E. Patoor "Laguerre model based adaptive control of antagonistic shape memory alloy (SMA) actuator", Proc. SPIE 7643, Active and Passive Smart Structures and Integrated Systems 2010, 764307 (9 April 2010); doi: 10.1117/12.847430; https://doi.org/10.1117/12.847430
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