Disturbance compensation-based output feedback adaptive control for shape memory alloy actuator system

Shape memory alloy (SMA) has been utilized as the material of smart actuators due to miniaturization and lightweight. However, nonlinearity hysteresis SMA seriously affect precise control. In this article, a novel disturbance compensation-based adaptive control scheme is developed improve performance actuator system. Firstly, nominal model constructed based on physical process. Next, an estimator online update not only unmeasured system states but also total disturbance. Then, controller, which composed law compensation law, designed. Finally, proposed evaluated in experimental setup. The comparison results have demonstrated that method can track reference trajectory accurately, reject load variations stochastic disturbances timely, exhibit satisfactory robust stability. independent some potential other types SMA-actuated systems.