Over-actuated hysteretic systems and methods for control of same

Abstract

An over-actuated system [304], such as a catheter, having shape memory alloy (SMA) hysteretic wire actuators is controlled using a controller [300, 302] that generates a control signal [310] based on a temperature model that takes into account physical limitations of the SMA hysteretic wire actuators, and based on a hysteresis model (e.g., the Duhem model) that describes hysteresis behavior of the SMA hysteretic wire actuators. The controller preferably includes a feedback controller [302] and a reference governor [300] that generates a smart reference signal [308] from a reference signal [306] representing a desired value of an output of the system. The smart reference signal preferably minimizes an error between the reference signal and an achievable output, and the control signal preferably is generated based on the smart reference signal.

Dependencies are inferred from the claim text.