DocumentCode :
2335171
Title :
Original hybrid control for robotic structures using magnetic shape memory alloys actuators
Author :
Gauthier, Jean-Yves ; Hubert, Arnaud ; Abadie, Joël ; Chaillet, Nicolas ; Lexcellent, Christian
Author_Institution :
CNRS-ENSMM-UFC, Besancon
fYear :
2007
fDate :
Oct. 29 2007-Nov. 2 2007
Firstpage :
747
Lastpage :
752
Abstract :
Magnetic shape memory alloys (MSMA) are relatively new active materials but at this time they are not actually very used as actuators despite a high strain and a small response time. This is probably due in part to a large hysteresis and a strong non-linear behaviour. In this paper, an original hybrid control is designed taking into account dynamical effects and hysteretic behaviour in order to increase static gain of the system. After a short presentation of MSMA behaviour, a modelling is proposed to obtain two different control strategies. Some experimental results are also given.
Keywords :
control nonlinearities; control system synthesis; hysteresis; intelligent robots; nonlinear control systems; robot dynamics; dynamical effects; hysteretic behaviour; magnetic shape memory alloys actuators; nonlinear behaviour; original hybrid control design; robotic structures; static gain; Actuators; Control systems; Delay; Magnetic field induced strain; Magnetic hysteresis; Magnetic materials; Robot control; Shape control; Shape memory alloys; Stress; Magnetic; Shape Memory Alloy; active material; adaptronic; control; dynamics; hysteresis; nonlinear;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
978-1-4244-0912-9
Electronic_ISBN :
978-1-4244-0912-9
Type :
conf
DOI :
10.1109/IROS.2007.4399101
Filename :
4399101
Link To Document :
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