Adaptive Control of Positioning Systems With Hysteresis Based on Magnetic Shape Memory Alloys

This paper considers a control strategy for systems affected by time-varying hysteretic phenomena, such as those observed in magnetic shape memory alloys subject to temperature variations. The proposed controller is based on a scheme that combines feedforward cancellation of the hysteresis using a modified Prandtl-Ishlinskii inverse model with a closed-loop control law designed to address the cancellation errors. Both the inverse hysteresis model and the closed-loop law feature adjustable parameters that are adapted online by means of learning laws based on Lyapunov design tools. The effectiveness of the proposed approach is confirmed by experiments on a prototypical micrometric positioning system containing a bar of MSMA as main actuating element.

[1]  A. A. Likhachev,et al.  Different modeling concepts of magnetic shape memory and their comparison with some experimental results obtained in Ni-Mn-Ga , 2004 .

[2]  H. Janocha,et al.  Adaptive inverse control of piezoelectric actuators with hysteresis operators , 1999, 1999 European Control Conference (ECC).

[3]  Ralph C. Smith,et al.  Smart material systems - model development , 2005, Frontiers in applied mathematics.

[4]  J.A. De Abreu-Garcia,et al.  Tracking control of a piezoceramic actuator with hysteresis compensation using inverse Preisach model , 2005, IEEE/ASME Transactions on Mechatronics.

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

[6]  Sebastian Faehler.  An Introduction to Actuation Mechanisms of Magnetic Shape Memory Alloys , 2007 .

[7]  H. Janocha,et al.  FPGA-Based Compensator of Hysteretic Actuator Nonlinearities for Highly Dynamic Applications , 2008, IEEE/ASME Transactions on Mechatronics.

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

[9]  Ying Feng,et al.  Hysteresis compensation for smart actuators using inverse generalized Prandtl-Ishlinskii model , 2009, 2009 American Control Conference.

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

[11]  Arnaud Hubert,et al.  Nonlinear Hamiltonian modelling of magnetic shape memory alloy based actuators. , 2008 .

[12]  Marios M. Polycarpou,et al.  On-line approximation control of uncertain nonlinear systems: issues with control input saturation , 2003, Proceedings of the 2003 American Control Conference, 2003..

[13]  Leonardo Riccardi,et al.  A precise positioning actuator based on feedback-controlled magnetic shape memory alloys , 2012 .

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

[15]  Arnaud Hubert,et al.  Modeling Rearrangement Process of Martensite Platelets in a Magnetic Shape Memory Alloy Ni2MnGa Single Crystal under Magnetic Field and (or) Stress Action , 2007 .

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

[17]  Ping Ge,et al.  Tracking control of a piezoceramic actuator , 1996, IEEE Trans. Control. Syst. Technol..

[18]  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.

[19]  H. Janocha.  Unkonventionelle Aktoren: Eine Einführung , 2010 .

[20]  K. Kuhnen,et al.  Inverse control of systems with hysteresis and creep , 2001 .

[21]  Arnaud Hubert,et al.  Multistable actuator based on magnetic shape memory alloy.. , 2006 .

[22]  A. A. Likhachev,et al.  Crystal structures and magnetic anisotropy properties of Ni-Mn-Ga martensitic phases with giant magnetic-field-induced strain , 2002 .

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

[24]  C. Natale,et al.  Effects of hysteresis compensation in feedback control systems , 2003 .

[25]  Klaus Kuhnen,et al.  Compensation of Parameter-dependent Complex Hysteretic Actuator Nonlinearities In Smart Material Systems , 2008 .

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

[27]  Ralph C. Smith.  Smart Material Systems , 2005 .

[28]  Hartmut Janocha,et al.  Adaptive Compensation of Hysteretic and Creep Non-linearities in Solid-state Actuators , 2010 .

[29]  Ying Feng,et al.  Generalized Prandtl-Ishlinskii hysteresis: Modeling and robust control for smart actuators , 2009, Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference.

[30]  Leonardo Riccardi,et al.  Adaptive approximation-based control of hysteretic unconventional actuators , 2011, IEEE Conference on Decision and Control and European Control Conference.

[31]  K. Kuhnen,et al.  Identification of Linear Error-Models with Projected Dynamical Systems , 2004 .

[32]  Kari Ullakko,et al.  Effect of temperature on magnetic properties of Ni-Mn-Ga magnetic shape memory (MSM) alloys , 2001 .

[33]  Arnaud Hubert,et al.  Original hybrid control for robotic structures using magnetic shape memory alloys actuators , 2007, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[34]  Xiaobo Tan,et al.  Control of Unknown Dynamic Hysteretic Systems Using Slow Adaptation: Preliminary Results , 2007, 2007 American Control Conference.

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

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