Tracking Control of a Magnetic Shape Memory Actuator Using an Inverse Preisach Model with Modified Fuzzy Sliding Mode...

Area of Science:

• Materials Science
• Control Systems Engineering
• Robotics

Background:

• Magnetic shape memory (MSM) alloys exhibit large strains (up to 12%) and high frequencies (1-2 kHz), enabling high-performance electromagnetic actuation.
• MSM actuators are promising for various applications, but their control is hindered by significant non-linear hysteresis.
• Effective control strategies are needed to overcome hysteresis and realize the full potential of MSM actuators.

Purpose of the Study:

• To model the non-linear hysteresis behavior of MSM actuators.
• To develop a control strategy for linearizing hysteresis and achieving precise path tracking.
• To validate the proposed control approach through experimental verification.

Main Methods:

• Utilized the Preisach model to capture and represent the hysteresis characteristics of the MSM actuator based on experimental data.
• Implemented an inverse Preisach model as a feedforward compensator to counteract hysteresis non-linearity.
• Combined the hysteresis compensator with a modified fuzzy sliding mode control (MFSMC) for path tracking control.

Main Results:

• Successfully modeled the hysteresis of the MSM actuator using the Preisach model.
• The inverse Preisach model effectively linearized the hysteresis non-linearity.
• The integrated control strategy achieved highly accurate path tracking with errors in the order of micrometers.

Conclusions:

• The Preisach model accurately captures MSM actuator hysteresis.
• Feedforward compensation using the inverse Preisach model linearizes hysteresis.
• The combined control strategy, including MFSMC, enables precise micrometer-level path tracking for MSM actuators.