A sliding mode torque and position controller for an antagonistic SMA actuator

Ianagui, André S.S.; Tannuri, Eduardo A.

doi:10.1016/j.mechatronics.2015.06.010

Cited by 21 publications

(13 citation statements)

References 10 publications

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“…The two phases can be converted to each other at different temperature states. The transformation from the austenite to the martensite is described by 19 x…”

Section: Phase Transformation Modelmentioning

confidence: 99%

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Disturbance compensation-based output feedback adaptive control for shape memory alloy actuator system

Zeng

Zhang

et al. 2021

International Journal of Advanced Robotic Systems

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Shape memory alloy (SMA) has been utilized as the material of smart actuators due to the miniaturization and lightweight. However, the nonlinearity and hysteresis of SMA material seriously affect the precise control. In this article, a novel disturbance compensation-based adaptive control scheme is developed to improve the control performance of SMA actuator system. Firstly, the nominal model is constructed based on the physical process. Next, an estimator is developed to online update not only the unmeasured system states but also the total disturbance. Then, the novel adaptive controller, which is composed of the nominal control law and the compensation control law, is designed. Finally, the proposed scheme is evaluated in the SMA experimental setup. The comparison results have demonstrated that the proposed control method can track reference trajectory accurately, reject load variations and stochastic disturbances timely, and exhibit satisfactory robust stability. The proposed control scheme is system independent and has some potential in other types of SMA-actuated systems.

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“…The two phases can be converted to each other at different temperature states. The transformation from the austenite to the martensite is described by 19 x…”

Section: Phase Transformation Modelmentioning

confidence: 99%

“…Based on the characteristics of SMA material, the identification process consists of two parts. 19 The identification algorithm employs the least square estimator. For the first step, a sinusoidal excitation signal (the frequency is 1/800 Hz and the amplitude scope is 0-0.…”

Section: Parameter Identificationmentioning

confidence: 99%

Disturbance compensation-based output feedback adaptive control for shape memory alloy actuator system

Zeng

Zhang

et al. 2021

International Journal of Advanced Robotic Systems

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“…The identification process is divided into two parts [20]. In the first step, a lower frequent sinusoidal excitation signal (frequency is 1/800Hz, amplitude scope is 0 to 0.4A) is applied to SMA actuator system used to estimate the thermal transformation temperature and heat convection coefficient .…”

Section: A Parameter Identificationmentioning

confidence: 99%

Sliding Mode Control of a SMA Actuator Based on Unscented Kalman Filter

Zhang

Zeng

et al. 2018

2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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This brief describes the mathematical model for shape memory alloy (SMA) actuator based on the physics of the process and presents a model-based sliding mode control (SMC) law. It is noted that only the contraction displacement can be obtained by the encoder. Whereas the unmeasured states can be estimated using an unscented Kalman filter (UKF) algorithm based on the nonlinear mechanism model. The comparisons between SMC incorporated with an UKF and SMC show that the tracking results of the proposed method is better than the previous one. Meanwhile, the load disturbance rejection result verifies the proposed controller has the ability to compensate the disturbance and ensure the robust stability property.

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“…13 Another sliding mode controller has been developed by Ianagui and Tannuri for both angular position control and force control of an antagonistic SMA actuator. 17 The primary sliding mode controller cannot guarantee closed-loop system states' convergence to the equilibrium in a finite time. Terminal sliding mode control has been proposed and used in various control problems.…”

Section: Introductionmentioning

confidence: 99%

Fault-tolerant control of a rotary shape memory alloy actuator using a terminal sliding mode controller

Beydaghi

Ayati

Zakerzadeh

2021

Proceedings of the Institution of Mechanical Engineers, Part C:

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This paper focuses on developing a Fault-tolerant control (FTC) method for a rotary Shape Memory Alloy (SMA) actuator against actuator faults. The SMA actuator uses a pair of SMA wires in the antagonistic configuration for rotating a pulley. A proposed Terminal Sliding Mode Controller (TSMC) is utilized to compensate for the effects of actuator faults and to guarantee acceptable tracking performance in the presence of faults. The developed closed-loop scheme is applied to both a simulated model of the actuator as well as a real actuator in an experimental setup and then, the performance is evaluated and compared with a Proportional (P) controller and a sliding mode controller. It is shown that the proposed scheme works well in both normal and faulty conditions. The experimental results indicate that TSMC has almost no steady-state error while both P and sliding mode controllers have a considerable error (about 20% relative error), in the presence of the actuator faults.

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A sliding mode torque and position controller for an antagonistic SMA actuator

Cited by 21 publications

References 10 publications

Disturbance compensation-based output feedback adaptive control for shape memory alloy actuator system

Disturbance compensation-based output feedback adaptive control for shape memory alloy actuator system

Sliding Mode Control of a SMA Actuator Based on Unscented Kalman Filter

Fault-tolerant control of a rotary shape memory alloy actuator using a terminal sliding mode controller

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