Robust adaptive control for nanopositioning system based on shape-memory alloy actuators
基于形状记忆合金驱动器的微纳定位系统鲁棒自适应控制

For nanopositioning system with actuators made from smart material, the control approach for this class of high-precision positioning system is addressed. The crucial point of this task is to mitigate the adverse effects caused by the unknown hysteresis. In an illustrative example, we employ a generalized Prandtl-Ishlinskii model with generalized play operator to describe the unknown saturated hysteresis in the shape-memory alloy actuator, and develop a robust adaptive controller to mitigate the effects of the preceding hysteresis. This controller realizes a precise trajectory tracking, while ensuring the global stability for the closed-loop system. The effectiveness of the proposed control approach is demonstrated through a simulation example.