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Dynamic Surface Control of Shape Memory Alloy Actuating Systems with Inverse Duhem Hysteresis Compensation

Shape Memory Alloys actuators are a class of smart materials-based actuators, and show a good output performance with high force to mass ratio, biocompatibility and small size. However, the internal hysteresis nonlinearities between the input temperature and output displacement adversely affect the output accuracy and they cannot be mitigated directly because of the strong non-smooth feature of SMA materials. To improve the actuating ability of SMA system, an estimated hysteresis inverse is employed based on Duhem model as the compensation of SMA actuator in this paper. Considering the dynamics of the SMA actuating system and the compensation error, a dynamic surface controller (DSC) is designed. The simulation results validate the effectiveness of the proposed approach.