NDLI: Compensation of hysteresis in a shape memory alloy wire system using linear parameter-varying gain scheduling control

Content Provider	IET Digital Library
Author	Kilicarslan, Atilla Grigoriadis, Karolos Song, Gangbing
Abstract	Robust tracking control of shape memory alloy (SMA) systems is a challenge because of their highly non-linear response, non-local memory and lack of differentiability. In this work, a linear parameter-varying (LPV) control method is proposed to compensate for the hysteretic behaviour of an SMA actuator. To provide information on the scheduling variable, the Preisach model of hysteresis is utilised. Parameter-dependent controller is updated based on the real-time computation of the instantaneous scheduling variable from the model. An H ∞ controller is also synthesised by representing the hysteresis as a parametric uncertainty. The controllers are implemented on an SMA actuated experimental system. Experimental validation is conducted for various types of reference inputs which can dramatically change the system's response. These reference signals are designed to excite major, minor and frequency dependent hysteresis loops. Trajectory tracking and disturbance rejection results show that the LPV controller has an improved response and the hysteresis is compensated for the full range of the scheduling variable. The tracking performances of both controllers are also compared when the system is under partial and persistent plant disturbances. For these cases, the LPV controller results in a more robust tracking response because of its less conservative structure.
Starting Page	1875
Ending Page	1885
Page Count	11
ISSN	17518644
Volume Number	8
e-ISSN	17518652
Issue Number	Issue 17, Nov (2014)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cta/8/17
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2013.0856
Journal	IET Control Theory & Applications
Publisher Date	2014-08-26
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Actuating And Final Control Device Actuators Compensation Control System Analysis Control System Synthesis Disturbance Rejection Hysteresis Compensation Hysteresis Loops H∞ Control H∞ Controller Synthesis Instantaneous Scheduling Variable Linear Parameter-varying Gain Scheduling Control Linear System LPV Control Method Optimal Control Parameter-dependent Controller Parametric Uncertainty Preisach Model Robust Tracking Control Scheduling Variable Shape Memory Alloy Wire System Shape Memory Effect SMA Actuator SMA System Spatial Variables Control Synthesis Method Trajectory Control Trajectory Tracking
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications

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LPV Gain Scheduling Control of Hysteresis on an SMA Wire System

Modeling and Compensation for Hysteresis of Shape Memory Alloy Actuators with the Preisach Representation

Mixed H2/H∞ multichannel linear parameter-varying control in discrete time (2000)

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Compensation of hysteresis in a shape memory alloy wire system using linear parameter-varying gain scheduling control

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