Robust Control of Flexible Structures Using Multiple Shape Memory Alloy Actuators

1994 ◽  
Vol 5 (5) ◽  
pp. 702-712 ◽  
Author(s):  
Robert Lashlee ◽  
Robert Butler ◽  
Vittal Rao ◽  
Frank Kern
Keyword(s):  
Robust Control ◽  
Shape Memory Alloy ◽  
Shape Memory ◽  
Flexible Structures

Identification and robust control of flexible structures using shape memory actuators

1993 ◽  
Author(s):  
Robert W. Lashlee ◽  
Rajendra R. Damle ◽  
Vittal S. Rao ◽  
Frank J. Kern
Keyword(s):  
Robust Control ◽  
Shape Memory ◽  
Flexible Structures ◽  
Shape Memory Actuators

Nonlinear Control of a Shape Memory Alloy Actuated Manipulator

2002 ◽  
Vol 124 (4) ◽  
pp. 566-575 ◽  
Author(s):  
Mohammad H. Elahinia ◽  
Hashem Ashrafiuon
Keyword(s):  
Robust Control ◽  
Shape Memory Alloy ◽  
Shape Memory ◽  
Control Algorithm ◽  
Weighted Average ◽  
Nonlinear Behavior ◽  
Variable Structure ◽  
Open Loop ◽  
Nonlinear Robust Control ◽  
Nonlinear Robust

This paper presents a nonlinear, robust control algorithm for accurate positioning of a single degree of freedom rotary manipulator actuated by Shape Memory Alloy (SMA). A model for an SMA actuated manipulator is presented. The model includes nonlinear dynamics of the manipulator, a constitutive model of Shape Memory Alloy, and electrical and heat transfer behavior of SMA wire. This model is used for open and closed loop motion simulations of the manipulator. Experiments are presented that show results similar to both closed and open loop simulation results. Due to modeling uncertainty and nonlinear behavior of the system, classic control methods such as Proportional-Integral-Derivative control are not able to present fast and accurate performance. Hence a nonlinear, robust control algorithm is presented based on Variable Structure Control. This algorithm is a control gain switching technique based on the weighted average of position and velocity feedbacks. This method has been designed through simulation and tested experimentally. Results show fast, accurate, and robust performance of the control system. Computer simulation and experimental results for different stabilization and tracking situations are also presented.

Controller Development for an Automotive Shape Memory Alloy Actuator

2007 ◽  
Author(s):  
Eric A. Williams ◽  
Mohammad Elahinia ◽  
Thomas M. Seigler
Keyword(s):  
Robust Control ◽  
Shape Memory Alloy ◽  
Shape Memory ◽  
Real Time ◽  
Position Control ◽  
Control Performance ◽  
Control Laws ◽  
Shape Memory Alloy Actuator ◽  
Control Scheme ◽  
And Control

Shape memory alloy actuators are inherently nonlinear and require a robust control scheme to guarantee rapid tracking and sufficient position control performance. In this paper, a control scheme is developed for an automotive shape memory alloy actuator that is used to orient an external rear view mirror to match desired set-points. The formulation of appropriate models and control laws are presented. Experiments of the controller in a real-time environment are performed and results are presented.

Development of Robust Control Algorithms for Shape Memory Alloy Bending Actuators

2012 ◽  
Author(s):  
John H. Crews ◽  
Ralph C. Smith ◽  
Jennifer C. Hannen
Keyword(s):  
Parameter Estimation ◽  
Robust Control ◽  
Shape Memory Alloy ◽  
Shape Memory ◽  
Sliding Mode ◽  
Reference Temperature ◽  
Control Algorithms ◽  
Sliding Mode Controller ◽  
Bending Angle ◽  
Bending Actuator

In this paper, we present a systematic approach to developing robust control algorithms for a single-tendon shape memory alloy (SMA) bending actuator. Parameter estimation and uncertainty quantification are accomplished using Bayesian techniques. Specifically, we utilize Markov Chain Monte Carlo (MCMC) methods to estimate parameter uncertainty. The Bayesian parameter estimation results are used to construct a sliding mode control (SMC) algorithm where the bounds on uncertainty are used to guarantee controller robustness. The sliding mode controller utilizes the homogenized energy model (HEM) for SMA. The inverse HEM compensates for hysteresis and converts a reference bending angle to a reference temperature. Temperature in the SMA actuator is estimated using an observer, and the sliding mode controller ensures that the observer temperature tracks the reference temperature. The SMC is augmented with proportional-integral (PI) control on the bending angle error.

scholarly journals Deflection Sliding Mode Control of a Flexible Bar Using a Shape Memory Alloy Actuator with an Uncertainty Model

2020 ◽  
Vol 10 (2) ◽  
pp. 471
Author(s):  
Najmeh Keshtkar ◽  
Sajjad Keshtkar ◽  
Alexander Poznyak
Keyword(s):  
Shape Memory Alloy ◽  
Sliding Mode Control ◽  
Shape Memory ◽  
Sliding Mode ◽  
Flexible Structures ◽  
Flexible System ◽  
Mode Control ◽  
Uncertainty Model ◽  
Rigid Rods ◽  
The One

This paper presents a penalty-based sliding mode control (SMC) law for flexible bar system, which uses shape memory alloy (SMA) as actuator. SMA actuators are lightweight, compact and flexible which facilitate their integration into flexible structures. The proposed control law manipulates SMA current to exert the necessary force for deflecting the flexible bar into the desired state. Numerical simulations demonstrate that this new method can control the one-input, multi-output under-actuated system of the flexible bar efficiently. The mathematical model of the flexible system is obtained using physical discretization. The bar is modeled as a combination of rigid rods connected by joints without elasticity and friction. This model demonstrates the flexibility of the system in an effective way. The numerical simulation illustrates the feasibility of the proposed model for analyzing the oscillations of the system and the effectivness of proposed control algorithms.

Sign in / Sign up

Export Citation Format

Share Document