Comparison of Model-free and Model-based Control Techniques for a Positioning Actuator based on Magnetic Shape Memory Alloys

This paper addresses the control issue of a precise positioning system based on Magnetic Shape Memory Alloys (MSMAs). This family of smart materials exhibits a hysteresis phenomenon that needs to be properly addressed in order to build effective devices. A model-free control scheme is compared with two different model-based approaches which exploit an accurate hysteresis model to perform hysteresis cancellation or feedforward compensation. All the control schemes are based on a PID controller which is automatically tuned by solving a set of Linear Matrix Inequalities (LMIs) able to guarantee a desired exponential rate for the error convergence to zero. Finally, the comparison of model-free and model-based control schemes is performed using an experimental set-up to emphasize both the advantages and disadvantages of the different control strategies.

[1]  Hassan K. Khalil,et al.  Control of systems with hysteresis via servocompensation and its application to nanopositioning , 2010, Proceedings of the 2010 American Control Conference.

[2]  Luigi Iannelli,et al.  Comparison of real-time control strategies with hysteresis compensation for magnetostrictive actuators , 2012 .

[3]  Bayu Jayawardhana,et al.  Input-to-State Stability of Differential Inclusions with Applications to Hysteretic and Quantized Feedback Systems , 2009, SIAM J. Control. Optim..

[4]  J. Farrell,et al.  Adaptive Approximation Based Control: General Theory , 2006 .

[5]  Daniele Davino,et al.  Compensation of Magnetostrictive Hysteresis by Arduino: Floating Versus Fixed-Point Performances , 2014, IEEE Transactions on Magnetics.

[6]  Michael Ruderman,et al.  Control of Magnetic Shape Memory Actuators Using Observer-Based Inverse Hysteresis Approach , 2014, IEEE Transactions on Control Systems Technology.

[7]  M. Omizo,et al.  Modeling , 1983, Encyclopedic Dictionary of Archaeology.

[8]  F. Ikhouane,et al.  Systems with Hysteresis: Analysis, Identification and Control Using the Bouc-Wen Model , 2007 .

[9]  Leonardo Riccardi,et al.  MSM Actuators: Design Rules and Control Strategies , 2012 .

[10]  Hartmut Janocha,et al.  Adaptronics and Smart Structures: Basics, Materials, Design, and Applications , 2007 .

[11]  H. Logemann,et al.  The Circle Criterion and Input-to-State Stability , 2011, IEEE Control Systems.

[12]  Alexei Sozinov,et al.  12% magnetic field-induced strain in Ni-Mn-Ga-based non-modulated martensite , 2013 .

[13]  R. Iyer,et al.  Control of hysteretic systems through inverse compensation , 2009, IEEE Control Systems.

[14]  John S. Baras,et al.  Adaptive identification and control of hysteresis in smart materials , 2005, IEEE Transactions on Automatic Control.

[15]  Isaak D. Mayergoyz,et al.  The science of hysteresis , 2005 .

[16]  Subhash Rakheja,et al.  Adaptive variable structure control of a class of nonlinear systems with unknown Prandtl-Ishlinskii hysteresis , 2005, IEEE Transactions on Automatic Control.

[17]  Leonardo Riccardi,et al.  Position Control for a Magnetic Shape Memory Actuator , 2010 .

[18]  Leonardo Riccardi,et al.  Design of Linear Feedback Controllers for Dynamic Systems With Hysteresis , 2014, IEEE Transactions on Control Systems Technology.

[19]  D. Davino,et al.  Embedded hysteresis compensation and control on a magnetostrictive actuator , 2006, INTERMAG 2006 - IEEE International Magnetics Conference.

[20]  B. Turchiano,et al.  Modeling, identification and control of a force generator for vibration attenuation , 2010, 2010 IEEE International Symposium on Industrial Electronics.

[21]  Aaas News,et al.  Book Reviews , 1893, Buffalo Medical and Surgical Journal.

[22]  Leonardo Riccardi,et al.  Adaptive Control of Positioning Systems With Hysteresis Based on Magnetic Shape Memory Alloys , 2013, IEEE Transactions on Control Systems Technology.

[23]  Klaus Kuhnen,et al.  Modeling, Identification and Compensation of Complex Hysteretic Nonlinearities: A Modified Prandtl - Ishlinskii Approach , 2003, Eur. J. Control.

[24]  David W. L. Wang,et al.  Passivity-based stability and control of hysteresis in smart actuators , 2001, IEEE Trans. Control. Syst. Technol..

[25]  Bayu Jayawardhana,et al.  Stability of systems with the Duhem hysteresis operator: The dissipativity approach , 2012, Autom..

[26]  Michael Ruderman,et al.  Discrete dynamic Preisach model for robust inverse control of hysteresis systems , 2010, 49th IEEE Conference on Decision and Control (CDC).

[27]  Hartmut Janocha,et al.  Adaptronics and Smart Structures: Basics, Materials, Design, and Applications , 2007 .