Modified Virtual Reference Feedback Tuning and Its Application to Shape Memory Alloy Actuators

This paper firstly proposes a kind of virtual reference feedback tuning (VRFT) method with a performance index which is obtained by modifying that of the standard VRFT. Then, analysis results on optimality conditions for the modified VRFT method are presented. Next, a VRFT method under hysteresis compensation is proposed, in which the modified VRFT method and the hysteresis compensation technique proposed in the previous work are combined. The proposed VRFT method with hysteresis compensation is applied to an experimental shape memory alloy actuator system, and its effectiveness is verified.

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