In this paper, adaptive predictive control is proposed to control a Shape Memory Alloy (SMA) linear displacement actuator. A Black-Box (BB) model based on a Laguerre filter is used to identify the SMA actuator and the controller in closed loop. This identification is performed online using a recursive least squares (RLS) algorithm, thus providing a linear model which approximate the behaviour of whole system around a working point. Based on this model, a predictor is built and a simple control law is derived. This structure can be cast in the Model Reference Adaptive Control (MRAC) frame and understood as a modified Series-Parallel Model Reference Adaptive control (MRAC) scheme. Experimental results prove that the proposed method combined with an efficient online identification strategy is able to robustly handle both nonlinearities and input constraints.
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ASME 2009 Conference on Smart Materials, Adaptive Structures and Intelligent Systems
September 21–23, 2009
Oxnard, California, USA
Conference Sponsors:
- Aerospace Division
ISBN:
978-0-7918-4896-8
PROCEEDINGS PAPER
Control of Shape Memory Alloy (SMA) Actuator Using Series-Parallel Model Reference Adaptive Control (MRAC) Available to Purchase
Somasundar Kannan,
Somasundar Kannan
Arts et Me´tiers ParisTech-Metz, Metz, France
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Christophe Giraud-Audine,
Christophe Giraud-Audine
Arts et Me´tiers ParisTech-Metz, Metz, France
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Etienne Patoor
Etienne Patoor
Arts et Me´tiers ParisTech-Metz, Metz, France
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Somasundar Kannan
Arts et Me´tiers ParisTech-Metz, Metz, France
Christophe Giraud-Audine
Arts et Me´tiers ParisTech-Metz, Metz, France
Etienne Patoor
Arts et Me´tiers ParisTech-Metz, Metz, France
Paper No:
SMASIS2009-1282, pp. 441-450; 10 pages
Published Online:
February 16, 2010
Citation
Kannan, S, Giraud-Audine, C, & Patoor, E. "Control of Shape Memory Alloy (SMA) Actuator Using Series-Parallel Model Reference Adaptive Control (MRAC)." Proceedings of the ASME 2009 Conference on Smart Materials, Adaptive Structures and Intelligent Systems. Volume 1: Active Materials, Mechanics and Behavior; Modeling, Simulation and Control. Oxnard, California, USA. September 21–23, 2009. pp. 441-450. ASME. https://doi.org/10.1115/SMASIS2009-1282
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