Hysteresis modeling of SMA in the tail of a bioinspired vehicle by ANFIS

In this work, An Adaptive Neuro Fuzzy Inference System (ANFIS) based hysteresis modeling is proposed for a bioinspired bird tail mechanism actuated by shape memory alloys (SMA). Experimental data collected from the mechanism are used to train the ANFIS model. The input voltage, time and past output of the system are fed to the ANFIS model as inputs. The trained ANFIS model is validated using several experimental data sets. ANFIS model predicts hysteretic behavior of this system with good performance and acceptable error bounds.