Being inherently compliant, the robotic artificial muscles are increasingly popular in applications such as safe human-robot interaction, legged robotics, prostheses and orthoses, and soft robotics. Their full utilization is often challenged by the coupled hysteresis among input, strain, and tension force. Although conventional two-dimensional hysteresis models are available, no prior studies o...

This paper is to study the precision control of a piezoceramic actuator (PA). Due to the inherent hysteresis nonlinearity, the PA always causes position error in the open-loop system and instability in the closed-loop system. To remedy this problem, a new control method combining the feedforward and feedback controllers is proposed to improve the dynamic performance of the PA. In the feedforwar...

The Preisach formalism is used to model magnetic hysteresis loops in soft magnetic materials subject to tensile stress. The model uses the Stoner-Wohlfarth mechanism of coherent rotation and dispersion of easy axes to capture the vector response of the magnetization. The Preisach density is constructed as the weighed sum of normal probability density functions (pdf) for the regions of high and ...

Hysteresis in smart materials hinders the wider applicability of such materials in actuators. In this paper, a systematic approach for coping with hysteresis is presented. The method is illustrated through the example of controlling a commercially available magnetostrictive actuator. We utilize the low-dimensional model for the magnetostrictive actuator that was developed in earlier work. For l...

The Preisach hysteresis model has been adopted extensively in magnetic and smart materialbased systems. Fidelity of the model hinges on accurate identification of the Preisach density function. Existing work on the identification of the density function usually involves applying an input that provides sufficient excitation and measuring a large set of output data. In this paper, we propose a no...

Vanadium dioxide (VO2 ) undergoes a thermally induced solid-to-solid phase transition, which can be exploited for actuation purposes. VO2 -coated silicon cantilevers demonstrate abrupt curvature changes when their temperature is varied across the phase transition. Unlike the monotonic hysteresis phenomena observed in many other smart materials, the curvature– temperature hysteresis of VO2 actua...

Magnetic shape memory (MSM) alloys are a new class of smart materials with extraordinary strains up to 12% and frequencies in the range of 1 to 2 kHz. The MSM actuator is a potential device which can achieve high performance electromagnetic actuation by using the properties of MSM alloys. However, significant non-linear hysteresis behavior is a significant barrier to control the MSM actuator. I...

We present a parametrised Preisach-type model that describes the hysteresis exhibited by the high temperature superconductors (HTSC); hysteresis is the main cause for losses in the subcritical domain. The parametrised model, in combination with electrical measurements, is independent of geometry, number of laments and other physical measures, and is identiied by a novel method that uses electri...

We study the null controllability problem for a semilinear parabolic equation, with hysteresis entering in the semilinearity. Under suitable hypotheses, we prove the controllability result and explicitly treat the cases where the hysteresis relationship is given by a Play or a Preisach operator.