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A novel dynamic model is proposed for the hysteresis in magnetostrictive actuators by coupling a Preisach operator to an ordinary di0erential equation, and a parameter identi2cation method is described. An e3cient inversion algorithm for a class of Preisach operators with piecewise uniform density functions is then introduced, based upon which an inverse(More)
Hysteresis hinders the effective use of smart materials in sensors and actuators. This paper addresses recursive identification and adaptive inverse control of hysteresis in smart material actuators, where hysteresis is modeled by a Preisach operator with a piecewise uniform density function. Two classes of identification schemes are proposed and compared,(More)
Ionic polymer-metal composite (IPMC) actuators have promising applications in biomimetic robotics, biomedical devices, and micro/nanomanipulation. In this paper, a physics- based model is developed for IPMC actuators, which is amenable to model reduction and control design. The model is represented as an infinite-dimensional transfer function relating the(More)
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(More)
In this paper a physics-based model is proposed for a biomimetic robotic fish propelled by an ionic polymer-metal composite (IPMC) actuator. Inspired by biological fins, a passive plastic foil is attached to the IPMC beam. The model incorporates both IPMC actuation dynamics and the hydrodynamics, and captures the interactions between the IPMC actuator and(More)
or paired fins (pectoral and pelvic) (Drucker & Lauder, 1999, 2001; Hove et al., 2001; Standen, 2008; Standen & Lauder, 2007). Other species generate thrust primarily by activating body musculature to bend the body and generate waves passing from the head toward the tail (Gillis, 1996; Jayne & Lauder, 1994, 1995c; Lauder & Tytell, 2006; Rome et al., 1993).(More)
Hysteresis poses a challenge for control of smart actuators. A fundamental approach to hysteresis control is inverse compensation. For practical implementation, it is desirable for the input function generated via inversion to have regularity properties stronger than continuity. In this paper, we consider the problem of constructing right inverses for the(More)
A distributed control approach is proposed for self-organization of autonomous swarms. The swarm is modeled as a Markov random field (MRF) on a graph where the (mobile) nodes and their communication/sensing links constitute the vertices and the edges of the graph, respectively. The movement of nodes is governed by the Gibbs sampler. The Gibbs potentials,(More)
Preisach-type operators model hysteresis via weighted superposition of a large (and even infinite) number of basic hysteretic elements (called hysterons), and they have proven capable of capturing various complicated hysteretic behaviors. While inverse compensation is an effective approach to control of hysteretic systems, inversion of Preisach-type(More)
In this paper, a physics-based model is proposed for a biomimetic robotic fish propelled by an ionic polymer-metal composite (IPMC) actuator. Inspired by the biological fin structure, a passive plastic fin is further attached to the IPMC beam. The model incorporates both IPMC actuation dynamics and the hydrodynamics, and predicts the steady-state cruising(More)