Abstract
AbstractIn this paper, a control approach for a flap positioning system based on shape memory alloy (SMA) actuators is addressed. SMA actuators are a class of smart materials based actuators, which have some features such as high stiffness and large recovery strain etc. However, the hysteresis nonlinearities existing in the SMA actuators will degrade the system performance, and limit the positioning precision. Focusing on the the special hysteresis feature of SMA actuators, Duhem model is adopted to describe saturation and minor loops characteristics by choosing the proper slope functions. In order to mitigate the negative effects caused by the hysteresis nonlinearities, the inverse of estimated hysteresis is preceded. To deal with the compensation error, lag effect and unmodeled measure error, a robust adaptive control scheme is proposed in this paper. The proposed control method can stabilize the closed-loop system and ensure the accurate rotation of the flap to the desired angle. The effectiveness of the proposed control approach is demonstrated through simulation examples.
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