Title: Robust adaptive control for flap positioning system with SMA actuators-inverse Duhem model-based approach

Authors: Ying Feng; Camille Alain Rabbath; Mingcong Deng; Chun-Yi Su

Addresses: College of Automation Science and Engineering, South China University of Technology, Wushan Road 381, Tianhe, Guangzhou, Guangdong 510640, China. ' Defence Research and Development Canada Valcartier, 2459 Pie-XI. Blvd North, Quebec City G3J 1X5, Canada; Department of Mechanical and Industrial Engineering, Concordia University, 1455 De Maisonneuve Blvd. W., Montreal, Quebec H3G 1M8, Canada. ' Department of Electrical and Electronic Engineering, Tokyo University of Agriculture and Technology, 2-24-16 Nakacho, Koganei, Tokyo 184-8588, Japan. ' Department of Mechanical and Industrial Engineering, Concordia University, 1455 De Maisonneuve Blvd. W., Montreal, Quebec H3G 1M8, Canada

Abstract: Shape memory alloy (SMA) actuators are a class of smart materials-based actuators, which have some excellent features such as high power-to-weight ratio, large recovery strain and low driving voltages, etc. However, the saturated-type hysteresis non-linearities existing in the SMA actuators will degrade the system performance, and limit the improvement of the positioning precision. Focusing on this task, a robust adaptive control approach for the flap positioning system based on shape memory alloy actuators is addressed in this paper. A differential equation-based hysteresis model, Duhem model, is adopted to describe the saturation and minor loops characteristics in the SMA actuators by choosing the proper slope functions. The inverse of estimated Duhem hysteresis is preceded as the compensation. In this paper, the compensation error, lag effect and the unmodelled measure error are considered, and the proposed control method can stabilise the closed-loop system and ensure the accurate rotation of the flap to the desired angle. Simulations performed on a flap positioning system illustrate and clarify the approach.

Keywords: robust control; adaptive control; hysteresis; inverse Duhem model; shape memory alloys; SMA actuators; mechatronic systems; flap positioning system; saturation; flap rotation; simulation.

DOI: 10.1504/IJAMECHS.2011.045009

International Journal of Advanced Mechatronic Systems, 2011 Vol.3 No.5/6, pp.375 - 383

Published online: 18 Mar 2015 *

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