Inversion-free feed-forward and feedback control of MSM based actuator with large non-smooth input hysteresis

摘要

Dynamic systems with a large and non-smooth hysteresis in the feedforward channel challenge the design of feedback control since the instantaneous input gain is varying during the operation, in the worst case between zero and infinity. Magnetic shape memory (MSM) actuators with multi-stable transitions represent such untypical system plant with only the output displacement being measured. This paper provides a case study of designing the feedforward and feedback control system for an MSM-based actuator setup with a fairly high level of the output sensing noise. First, the recently introduced inversion-free feedforward hysteresis compensator is adapted for the Krasnoselskii-Pokrovskii operator model. Then, a robust feedback proportional-integral (PI) loop shaping is performed, while taking into account the lagging behavior of the low-pass filtering and system uncertainties. Experimental results show that the parallel action of feedforward and feedback parts improves the overall performance of position control.