Modeling and Control of Shape Memory Alloy Actuators

Jayender, Jagadeesan; Patel, Rajni V.; Nikumb, Suwas; Ostojic, M.

doi:10.1109/tcst.2007.903391

Cited by 126 publications

(62 citation statements)

References 24 publications

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“…Recovery strain of SMA is related to its temperature and the temperature of the SMA can also be used as a feedback signal to control the strain generated during phase transformation. Sensorless control of the SMA that does not rely on feedback, but instead depends on mathematical models to estimate the SMA strain have also been used for controlling SMA (Dutta and Ghorbel, 2005; Jayender et al, 2008). Curve fitting models treat the SMA as a black box and depend on the particular SMA actuator or setup used in developing the models.…”

Section: Methodsmentioning

confidence: 99%

Towards a discretely actuated steerable cannula for diagnostic and therapeutic procedures

Ayvali

Liang

et al. 2012

The International Journal of Robotics Research

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We have designed, developed, and evaluated the performance of a multi-degree-of-freedom discretely actuated steerable cannula with shape memory alloy (SMA)actuators. This will enable us to deliver diagnostic as well as therapeutic devices to the target location through the hollow inner core of the cannula. We propose to use SMAs to generate bending forces due to its small size and high power density. We annealed the SMA wires through a customized training process in arc shape and mounted them at discrete locations on the outer surface of the cannula to enable joint motion. A pulse width modulation(PWM)-based control scheme was implemented to control all SMA actuators simultaneously to enable multiple joint motion using a single power supply. The proposed controller was validated through an experiment inside gelatin to mimic the motion of the cannula inside a medium which requires a significant amount of force to move the joints of the cannula. Trajectory planning using a suitable metric and trajectory execution were successfully implemented. To demonstrate the delivery of a diagnostic tool through our cannula, we demonstrate that we can pass an optical coherence tomography probe through the cannula and perform in situ micro-scale imaging.

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Section: Methodsmentioning

confidence: 99%

Towards a discretely actuated steerable cannula for diagnostic and therapeutic procedures

Ayvali

Liang

et al. 2012

The International Journal of Robotics Research

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“…To control the SMA-based actuators, many linear and nonlinear controllers have been proposed to achieve precise tracking and disturbance rejection based on feedbacks such as temperature and strain change [28]–[30]. In our system, the measurable variables are the temperature of the springs and the angle of the actuator which is also the system output.…”

Section: Control Architecture and Experimentsmentioning

confidence: 99%

Development of a Meso-Scale SMA-Based Torsion Actuator for Image-Guided Procedures

et al. 2017

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This paper presents the design, modeling, and control of a meso-scale torsion actuator based on shape memory alloy (SMA) for image-guided surgical procedures. Developing a miniature torsion actuator is challenging, but it opens the possibility of significantly enhancing the robot agility and maneuverability. The proposed torsion actuator is bi-directionally actuated by a pair of antagonistic SMA torsion springs through alternate Joule heating and natural cooling. The torsion actuator is integrated into a surgical robot prototype to demonstrate its working performance in the humid environment under C-Arm CT image guidance.

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“…To switch between the different linear controllers, the gain scheduler monitors one or more observable variables to infer in which operating range is the controlled process. There are some examples of gain scheduling control applied to control the position of SMA actuators, such as the works by Jayender et al [19,20] or Kilicarslan et al [21]. Andrianesis et al [22] implemented a gain-scheduled controller to drive the output of the SMA actuation system of a prosthetic hand.…”

Section: Related Workmentioning

confidence: 99%

Position control of a shape memory alloy actuator using a four-term bilinear PID controller

Villoslada

Escudero

Alonso-Martín

et al. 2015

Sensors and Actuators A: Physical

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This is a postprint version of the following published document: Villoslada, A.; Escudero, N.; Martín, F.; Flores, A.; Rivera, C.; Collado, M.; Moreno, L. (2015). Position control of a shape memory alloy actuator using a four-term bilinear PID controller. Sensors and Actuators AbstractShape memory alloy (SMA) actuators have a number of appealing features, such as their low weight or their high force-to-weight ratio, that make them a potential alternative to traditional actuation tech-nologies in fields such as space applications, surgical devices or wearable robotics. In this paper, a type of bilinear controller consisting of a conventional PID controller cascaded with a bilinear compensator, known as BPID, is proposed. Bilinear controllers are a subset of nonlinear controllers, which is why the BPID may be a promising alternative to control the position of a SMA actuator. Nonlinear control tech-niques are commonly applied to control SMA actuators, because of their nonlinear behavior caused by thermal hysteresis. The BPID controller is simpler and easier to implement than other nonlinear control strategies, which makes it a very appealing candidate to control SMA actuators. The performance of the BPID controller has been compared with other two controllers, a conventional PID and a commuted feed-forward PIPD, controlling a real SMA actuator. To this end, a set of five tests has been defined, in which the controlled actuator must follow a series of position references. From these tests, the position and error of the actuator have been plotted, and a series of metrics has been computed to have quantitative mea-surements of the performance of the three controllers. It is shown that, in most of the experiments, the BPID has a better performance than the other two tested controllers, especially tracking step references. However, the power consumption is slightly higher when the actuator is controlled with this strategy, although the difference is minimal. Also, the BPID imposes greater energy variations to the SMA actuator, which might affect its service life. Overall, the BPID controller has proved to be a viable alternative to control SMA actuators.

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Modeling and Control of Shape Memory Alloy Actuators

Cited by 126 publications

References 24 publications

Towards a discretely actuated steerable cannula for diagnostic and therapeutic procedures

Towards a discretely actuated steerable cannula for diagnostic and therapeutic procedures

Development of a Meso-Scale SMA-Based Torsion Actuator for Image-Guided Procedures

Position control of a shape memory alloy actuator using a four-term bilinear PID controller

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