Online force control of a shape-memory-alloy-based 2 degree-of-freedom human finger via inverse model and proportional–integral–derivative compensator

Mirzakhani, F; Ayati, S. M.; Fahimi, Pouya; Baghani, Mostafa

doi:10.1177/1045389x19835963

Cited by 7 publications

(7 citation statements)

References 32 publications

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“…3,[11][12][13][14][15] Although these models are less capable of predicting the hysteresis behavior than PI model, they are very useful when researchers require to investigate thermomechanical relations of an SMAdriven system. 16 Recently, many efforts have been done to boost constitutive models, but combining constitutive and phenomenological models was less discussed. [17][18][19][20] The main goal of this research is a feasibility study of using PI model for boosting constitutive models.…”

Section: Introductionmentioning

confidence: 99%

Development of Hybrid Prandtl–Ishlinskii and Constitutive Models for Hysteresis of Shape-Memory-Alloy-Driven Actuators

2021

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SUMMARY Prandtl–Ishlinskii (PI) model has an excellent compromise to characterize an asymmetric saturated hysteresis behavior of shape-memory-alloy (SMA)-driven systems, but it cannot consider thermomechanical relations between components of SMA-driven systems. On the other hand, constitutive models are composed of these relations, but their precision needs to be improved. In this paper, PI model is proposed to boost constitutive models in two cases. In the first case, PI model is used to characterize martensite volume fraction (MVF) called hybrid model. In the second case, the model is applied as a regulator in the output of a constitutive model called PI-based output (PIO) regulator. Due to simplicity and ability of Liang–Rogers (LR) model in transformation phases, it is considered as an MVF in the original constitutive model. The performance of both proposed models is compared with the original LR-based constitutive model. Unknown parameters of all three models are identified using genetic algorithm in MATLAB Toolbox. The performance of the three models is investigated at three different frequencies of \[\frac{{2\pi }}{8}\] , \[\frac{{2\pi }}{{15}}\] , and \[\frac{{2\pi }}{{30}}\] Hz because the excitation frequency changes the hysteresis behavior. Results show that the proposed hybrid model keeps the precision of the original constitutive model at different frequencies. In addition, the proposed PIO model shows the best performance to predict hysteresis behavior at different frequencies.

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Section: Introductionmentioning

confidence: 99%

Development of Hybrid Prandtl–Ishlinskii and Constitutive Models for Hysteresis of Shape-Memory-Alloy-Driven Actuators

2021

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“…An SMA-based 2DoF human finger is designed and experimentally tested in. 16 The controller used in this research uses the inverse model and PID compensator.…”

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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“…Shape memory alloys (SMAs) are used as an attractive actuator in robot-assisted tools [1], bio-inspired robots [2][3][4], automotive equipment [5], aerospace [6,7], soft robotics [8], damping applications [9], and MEMS devices [10] due to their high strain, adaptability to systems, and high energy density. The difference between cooling and heating paths is called a hysteresis phenomenon.…”

Section: Introductionmentioning

confidence: 99%

Tracking control of an SMA-driven actuator with rate-dependent behavior using an inverse model of hysteresis

Shakiba

Yousefi‐Koma

Ayati

2020

J Braz. Soc. Mech. Sci. Eng.

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Hysteresis is a nonlinear phenomenon which may cause inaccuracies and delay in control applications. Shape memory alloys (SMAs) have an asymmetric saturated hysteresis. In addition, the excitation frequency changes the hysteresis behavior of SMA-driven systems and makes them challenging to track reference inputs at different frequencies. In this study, a rate-dependent Prandtl-Ishlinskii model coupled with a deadband function is proposed to characterize the asymmetric and saturated hysteresis behavior as well as its rate-dependency. Unknown parameters of the model are identified using genetic optimization algorithm in MATLAB Toolbox based on measured data. The identified model is validated to consider the excitation frequency effect with a different measured data set. The inverse model is also proposed as a compensator to mitigate hysteresis nonlinearity effects especially the frequency effect in tracking control. Although the proposed compensator cannot fully compensate for hysteresis effects, it can reduce the input-output hysteresis. The proposed rate-dependent compensator as a feedforward controller combined with a proportional-integral-derivative (PID) controller as a feedback mitigates hysteresis effects. The PID controller is used to improve the accuracy of compensated system and remove the steady-state error. Experimental results illustrate that the proposed controller has a great accuracy in tracking control to consider the excitation frequency effect as well as the asymmetric saturated hysteresis.

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Online force control of a shape-memory-alloy-based 2 degree-of-freedom human finger via inverse model and proportional–integral–derivative compensator

Cited by 7 publications

References 32 publications

Development of Hybrid Prandtl–Ishlinskii and Constitutive Models for Hysteresis of Shape-Memory-Alloy-Driven Actuators

Development of Hybrid Prandtl–Ishlinskii and Constitutive Models for Hysteresis of Shape-Memory-Alloy-Driven Actuators

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

Tracking control of an SMA-driven actuator with rate-dependent behavior using an inverse model of hysteresis

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