NARMAX Model-Based Hysteresis Modeling of Magnetic Shape Memory Alloy Actuators

Magnetic shape memory alloy (MSMA) based actuators are extensively applied in the fields of precision manufacturing and micro/nano technology. Nevertheless, the inherent hysteresis in the MSMA-based actuator severely hinders its further application. In this letter, the characteristics of hysteresis behavior under different input signals are investigated. Then, a nonlinear auto-regressive moving average with exogenous inputs (NARMAX) model based on a diagonal recurrent neural network (DRNN) is used to construct the rate-dependent hysteresis model. To improve the capability of characterizing the multi-valued mapping of the hysteresis loop, the play operator is adopted as the exogenous variable function of the NARMAX model. To verify the effectiveness of the proposed model, a series of comparisons are implemented. The experimental results show that the proposed NARMAX model based on the DRNN exhibits excellent modeling performance.