Robust Tracking Control of a Shape Memory Alloy Wire Actuator

2000 ◽  
Author(s):  
Gangbing Song ◽  
Dane Quinn
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Tracking Control ◽  
Vibration Isolation ◽  
Sliding Mode ◽  
Control Design ◽  
Nonlinear Phenomenon ◽  
Robust Tracking Control ◽  
Sma Actuators ◽  
Titanium Nickel

Abstract Tracking control of shape memory alloy (SMA) actuators is essential in many applications such as vibration isolation. Due to the hysteresis, an inherent nonlinear phenomenon associated with SMAs, control design based on linear methods has proven inadequate for tracking control of these actuators. In this paper, a novel tracking controller employing a nonlinear robust compensator is proposed for SMA actuators. The control design uses the sliding-mode approach and requires no detailed information of the SMA model. To test the effectiveness of the proposed controller, a single SMA wire test stand is built. A titanium-nickel SMA wire stretched by a bias spring is used as an actuator for tracking control. Experimental results show that the SMA wire actuator under the robust control can precisely follow a sinusoidal path and the effectiveness of the proposed control strategy is demonstrated.

Experimental Study of the Robust Tracking Control of a Shape Memory Alloy Wire Actuator

2004 ◽  
Vol 126 (3) ◽  
pp. 674-677 ◽  
Author(s):  
G. Song ◽  
D. D. Quinn
Keyword(s):  
Experimental Study ◽  
Shape Memory Alloy ◽  
Shape Memory ◽  
Control Strategy ◽  
Tracking Control ◽  
Sliding Mode ◽  
Control Design ◽  
Robust Tracking ◽  
Robust Tracking Control ◽  
Nonlinear Robust

This paper presents an experimental study of a tracking control of a shape memory alloy (SMA) wire actuator using a nonlinear robust compensator. The control design uses the sliding-mode approach and requires no detailed information about the SMA model. To test the effectiveness of the proposed controller, experiments of the tracking control of an SMA wire actuator are conducted. Experimental results show that the SMA wire actuator under the robust control can precisely follow a sinusoidal path, and the effectiveness of the proposed control strategy is thus demonstrated.

Modeling and Tracking Control System of Shape Memory Alloy Actuator

2007 ◽  
Author(s):  
B. Y. Ren ◽  
B. Q. Chen
Keyword(s):  
Control System ◽  
Shape Memory Alloy ◽  
Shape Memory ◽  
Tracking Control ◽  
Fuzzy Controller ◽  
Smart Structures ◽  
Constitutive Law ◽  
Hysteresis Model ◽  
Sma Actuators ◽  
Sma Actuator

The different Shape Memory Alloy (SMA) actuators have been widely used in the fields of smart structures. However, the accurate prediction of thermomechanical behavior of SMA actuators is very difficult due to the nonlinearity of inherence hysteresis of SMA. Therefore, the tracking control accuracy of SMA actuator is very important for the practical application of the SMA actuator. A dynamic hysteresis model of bias-type SMA actuator based on constitutive law developed by Brinson et al. and hysteresis model developed by Ikuta et al. is presented. The control systems composed of the Proportional Integral Derivative (PID) controller as well as a fuzzy controller or a fuzzy-PID composite controller for compensating the hysteresis is proposed. The effort of tracking control system is analyzed according to the simulation on the displacement of SMA actuator with the three kinds of controllers. The result can provide a reference for the application of SMA actuator in the fields of smart structures.

Adaptive Fuzzy Sliding-Mode Position Control of a Shape Memory Alloy Actuated System

2015 ◽  
Vol 789-790 ◽  
pp. 946-950
Author(s):  
Suwat Kuntanapreeda
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Position Control ◽  
Sliding Mode ◽  
Control Loop ◽  
Adaptive Fuzzy ◽  
Sma Actuators ◽  
Control Scheme ◽  
Adaptive Fuzzy Sliding Mode ◽  
Fuzzy Sliding Mode

Shape memory alloy (SMA) actuators are promising for miniature applications. They accomplish the shape memorization via a temperature dependent phase transformation process. Control of SMA actuators is challenging because the actuators exhibit highly hysteresis behavior. This paper presents a fuzzy-based position control scheme for a SMA actuated mass system. The control system consists of an outer-and an inner-control loop. The inner loop controls the temperature of the SMA actuators using a PI controller, whereas the outer loop, which is affected by the hysteresis of the SMA actuators, controls the position. To deal with the hysteresis in the position control loop, an adaptive fuzzy sliding-mode control method is adopted. Experimental results illustrate the success of the proposed control scheme.

scholarly journals Optimal super-twisting sliding mode control design of robot manipulator: Design and comparison study

2020 ◽  
Vol 17 (6) ◽  
pp. 172988142098152
Author(s):  
Ayad Q Al-Dujaili ◽  
Alaq Falah ◽  
Amjad J Humaidi ◽  
Daniel A Pereira ◽  
Ibraheem K Ibraheem
Keyword(s):  
Sliding Mode Control ◽  
Tracking Control ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
Dynamic Performance ◽  
Control Design ◽  
Design Parameters ◽  
Robust Tracking Control ◽  
Mode Control ◽  
Manipulator Design

This article presents a tracking control design for two-link robot manipulators. To achieve robust tracking control performance, a super-twisting sliding mode control (STSMC) is derived. The stability of the system based on the proposed approach is proved based on the Lyapunov theorem. However, one problem with the designed STSMC is to properly set its parameters during the design. Therefore, it is proposed a social spider optimization (SSO) to tune these design parameters to improve the dynamic performance of the robot manipulator controlled considering STSMC. The performance of the STSMC approach based on SSO is compared to that based on particle swarming optimization (PSO) in terms of dynamic performance and robustness characteristics. The effectiveness of the proposed optimal controllers is verified by simulations within the MATLAB software. It is verified that the performance given by SSO-based STSMC outperforms that resulting from PSO-based STSMC. The experimental results are conducted based on LabVIEW 2019 software to validate the numerical simulation.

Robust Tracking Control for Takagi–Sugeno Fuzzy Systems With Unmeasurable Premise Variables: Application to Tank System

2014 ◽  
Vol 136 (4) ◽  
Author(s):  
H. Ghorbel ◽  
A. El Hajjaji ◽  
M. Souissi ◽  
M. Chaabane
Keyword(s):  
Tracking Control ◽  
Fuzzy Systems ◽  
Design Procedure ◽  
Control Design ◽  
Linear Matrix ◽  
Robust Tracking Control ◽  
Fuzzy Observer ◽  
Tank System ◽  
System States ◽  
Takagi Sugeno

In this paper, a robust fuzzy observer-based tracking controller for continuous-time nonlinear systems presented by Takagi–Sugeno (TS) models with unmeasurable premise variables, is synthesized. Using the H∞ norm and Lyapunov approach, the control design for TS fuzzy systems with both unmeasurable premises and system states is developed to guarantee tracking performance of closed loop systems. Sufficient relaxed conditions for synthesis of the fuzzy observer and the fuzzy control are driven in terms of linear matrix inequalities (LMIs) constraints. The proposed method allows simplifying the design procedure and gives the observer and controller gains in only one step. Numerical simulation on a two tank system is provided to illustrate the tracking control design procedure and to confirm the efficiency of the proposed method.

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