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

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.
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https://hal.archives-ouvertes.fr/hal-00186836
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Submitted on : Monday, November 12, 2007 - 4:01:08 PM
Last modification on : Tuesday, May 14, 2019 - 12:20:17 PM
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  • HAL Id : hal-00186836, version 1

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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⟩

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