Original hybrid control for robotic structures using magnetic shape Memory Alloys Actuators

摘要

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.