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. 2023 Feb 19;10(12):2205656. doi: 10.1002/advs.202205656

Figure 5.

Figure 5

Inverse hysteresis model‐based feedforward controller and validated results. a) Diagram of the feedforward controller for a SMAM. b) Position tracking results for a single SMAM using a single frequency reference (0.3 Hz). c) Position tracking result for a single SMAM using a periodic reference (combination of 0.3 and 0.6 Hz). d) Diagram of the feedforward controller for the printing nozzle where four SMAMs are simultaneously controlled. e) Tracking results for the printing nozzle trajectories with the feedforward controller where four SMAMs are simultaneously actuated. f) Corresponding tracking errors.