Hybrid Output Regulation of Hysteretic Actuators based on Single-Crystal Shape Memory Alloy Wires

In this paper, we present a novel hybrid feedback controller for a hysteretic actuator based on smart materials. The system under investigation consists of a single-crystal Shape Memory Alloy wire coupled with a biasing mechanism. Starting from a physics-based hybrid description of the nonlinear actuator behavior, a Throw-Catch hybrid strategy is developed to achieve asymptotic regulation of the system output (i.e., position) based on a combination of global and local control schemes. The control law permits the desired regulation goal to be achieved without the need to measure or estimate the complete system state, by solely relying on the actuator output information. After being described, the controller is validated via simulations.Copyright (c) 2023 The Authors.