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

Abstract

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.

Adaptive fault control for robot manipulators based on nonsingular terminal sliding mode control technique

“…To deal with the abrupt faults in the control systems, the studies in Refs. 4,13,[21][22][23][24][25][26][27][28] have shown many suitable methods in recent years. Wu et al 21 presented the fault-tolerant control scheme based on the neural networks and an observer.…”

A new model-free control method for SMA wire actuators based on DRL

“…A data-driven sliding mode control method for an SMA actuation system was proposed and experimentally validated [17]. A Terminal Sliding Mode Controller (TSMC) was developed for the control of a rotary SMA actuator and the control performance was compared with a P controller and a traditional sliding mode controller [18]. A novel SMA rod actuator was developed, and an adaptive model predictive control system was designed for position control of the actuator [19].…”