The strain-temperature hysteresis for shape memory alloy (SMA) actuators has been shown to undergo large changes according to the applied load. This paper provides an adaptive hysteresis model capable of accounting for a time-varying hysteresis, specifically SMA hysteresis under a varying applied stress. Previous research has established excellent performance, in both numerical and laboratory experiments, of the adaptive hysteresis model for actuators with fixed hysteresis. In this paper, the performance of the adaptive model when there are significant changes in the hysteresis characteristics is examined in a laboratory tracking experiment.
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