Micropositioning using shape memory alloy actuators |
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Authors: | E Asua A García-Arribas V Etxebarria |
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Institution: | (1) Departamento de Electricidad y Electrónica, Universidad del País Vasco, Apartado 644, 48080 Bilbao, Spain |
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Abstract: | Shape memory alloys (SMA) can be used to generate motion or force in electromechanical
devices and micro-machines, although their accuracy is severely limited by their highly nonlinear
and hysteretical stimulus-response characteristics. In this work we present some results regarding
a nonlinear control method suitable for SMA-based positioning applications. In particular, we show how the hysteresis effects
can be compensated using an inverse hysteresis model generated by a neural network, trained using experimental data. The control
strategy, experimented on a laboratory SMA actuator, uses the inverse model inserted in a proportional-integral with antiwindup
control loop. It is found that neural networks successfully improve the closed-loop response, leading to position accuracies
close to a micrometer. |
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Keywords: | |
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