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Recent Advances in Learning and Control pp 249–262Cite as

Robust Control of Smart Material-based Actuators

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Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 371))

Abstract

Actuators incorporating smart materials are competitive choices for micro-positioning devices, but they are difficult to control because of their nonlinearity and hysteresis. These actuators are shown to be passive using several different approaches. Using passivity, a class of stabilizing controllers is identified. A controller for velocity control is designed that optimizes tracking performance and evaluated experimentally. A different approach is used to establish stability and tracking when position control is required. Robust stability is obtained in both approaches since stability is not sensitive to actuator parameters.

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Author information

Authors and Affiliations

  1. Department of Mechanical Engineering, University of Waterloo, Waterloo, Ontario, Canada

    Sina Valadkhan & Amir Khajepour

  2. Department of Applied Mathematics, University of Waterloo, Waterloo, Ontario, Canada

    Kirsten Morris

Authors
  1. Sina Valadkhan
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  2. Kirsten Morris
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  3. Amir Khajepour
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Editor information

Editors and Affiliations

  1. Département d’Ingénierie Mathématique, Université catholique de Louvain, avenue Georges Lemaître, 4, B-1348, Louvain-la-Neuve, Belgium

    Vincent D. Blondel PhD

  2. Information Systems Laboratory Department of Electrical Engineering, Stanford University, Stanford, CA, 94305-9510, USA

    Stephen P. Boyd PhD

  3. Bio-Mimetic Control Research Center, RIKEN (The Institute of Physical and Chemical Research), Anagahora, Shimoshidami, Moriyama-ku, Nagoya, 463-0003, Japan

    Hidenori Kimura PhD

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© 2008 Springer-Verlag Berlin Heidelberg

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Valadkhan, S., Morris, K., Khajepour, A. (2008). Robust Control of Smart Material-based Actuators. In: Blondel, V.D., Boyd, S.P., Kimura, H. (eds) Recent Advances in Learning and Control. Lecture Notes in Control and Information Sciences, vol 371. Springer, London. https://doi.org/10.1007/978-1-84800-155-8_18

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  • DOI: https://doi.org/10.1007/978-1-84800-155-8_18

  • Publisher Name: Springer, London

  • Print ISBN: 978-1-84800-154-1

  • Online ISBN: 978-1-84800-155-8

  • eBook Packages: EngineeringEngineering (R0)

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