No abstract

No abstract

No abstract

Abstract-Shape memory alloy (SMA) actuators provide unique features for motion control applications due to their compact design and high force to weight ratio. Integration of SMA actuators in motion control applications has not been widely employed due to their nonlinear behaviors and control difficulties. In this paper, the concept of model-based control of SMA actuators is introduced. Time variable parameter (TVP) model is used to describe the actuator dynamics. Gain scheduled Proportional-Integral (PI) controller with time variable gains has been developed based on pole placement technique. Experimental evaluation of gains schedule PI controller for SMA actuators shows stable and robust response that could compensate for the nonlinear phenomenon of these actuators.

No abstract