Original hybrid control for robotic structures using magnetic shape memory alloys actuators.

Jean-Yves Gauthier (1) , Arnaud Hubert (1) , Joël Abadie (1) , Nicolas Chaillet (1) , Christian Lexcellent (2)

1 LAB - Laboratoire d'automatique de Besançon
2 FEMTO-ST - Franche-Comté Électronique Mécanique, Thermique et Optique - Sciences et Technologies (UMR 6174)

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.

Mots clés: Contro; active material; adaptronic; Magnetic Shape Memory Alloy; nonlinear; dynamics; hysteresis.; hysteresis

Domaines: Micro et nanotechnologies/Microélectronique

Jean-Yves Gauthier, Arnaud Hubert, Joël Abadie, Nicolas Chaillet, Christian Lexcellent. Original hybrid control for robotic structures using magnetic shape memory alloys actuators.. IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS'07., Oct 2007, San Diego, CA., United States. pp.747-752. ⟨hal-00186836⟩