Angular trajectory tracking using antagonistic shape memory alloy actuators

Ruth, D. Josephine Selvarani; Nakshatharan, S. Sunjai; Dhanalakshmi, K.

doi:10.1109/icsenst.2012.6461778

Cited by 8 publications

(8 citation statements)

References 5 publications

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“…When being actuated the resistance reduces to 86 and this is computed using current law (8) as follows. (8) The voltage across SMA wire (V SMA ) and the series resistance 10 (V R ) are measured using DAQ cards shown in Fig. 3.…”

Section: A Self Sensing Using Resistive Feedbackmentioning

confidence: 99%

“…Literature review finds the use of SMA actuators for tracking control system: using the model of Brinson et al [6] and model less approach [7]. SMA actuators for position control system using self tuning fuzzy PID controller is reported in [8]. Lately, Tabrizi et al have presented a nonlinear position control of antagonistic shape memory alloy actuators which uses a constitutive model, phase transformation model and a heat transfer model [9].…”

Section: Introductionmentioning

confidence: 99%

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Auto-sensing antagonistic shape memory alloy actuated manipulator

Ruth¹,

Nakshatharan²,

Dhanalakshmi

2013

2013 IEEE International Conference on Control Applications (CCA)

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This paper investigates and realizes the self sensing tracking control of a manipulator using antagonistic shape memory alloy actuators. Antagonistic shape memory alloy actuators use opposing force to create systems capable of producing alternative tracking paths and two-way mechanical work is done in an efficient way. A PID based control scheme is designed and implemented experimentally using self sensing property. The use of self sensing completely removes the complexity and cost introduced by additional sensors. Experimental results show that a shape memory alloy actuated manipulator in combination with the controller can track input trajectory signal with a wide dynamic range of frequency up to 1.8 Hz and ± 1.1 % accuracy is achieved.

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Section: A Self Sensing Using Resistive Feedbackmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Auto-sensing antagonistic shape memory alloy actuated manipulator

Ruth¹,

Nakshatharan²,

Dhanalakshmi

2013

2013 IEEE International Conference on Control Applications (CCA)

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“…In most of the studies, the position of the actuator was just considered as state feedback, and control law was developed using the error between the desired and actual positions. An actuator was presented in [16] for PWM-based angular trajectory tracking of a beam using SMA actuators in an antagonistic configuration. An indirect intelligent sliding mode control of a shape memory alloy actuator was introduced in [17].…”

Section: Introductionmentioning

confidence: 99%

“…can be rewritten as where Substituting Eqs. (8)-(11) in (2) and rearranging the terms, we have:By substituting(14) in(16), we get where(12) …”

mentioning

confidence: 99%

Development of a cascade position control system for an SMA-actuated rotary actuator with improved experimental tracking results

Moghadam

Zakerzadeh

Ayati

2019

J Braz. Soc. Mech. Sci. Eng.

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Hysteresis and significant nonlinearities in the stress-strain-temperature characteristics of shape memory alloy (SMA) actuators prevent effective utilization of these actuators and make them difficult to control. Due to these effects, the position control of SMA actuators has been a great challenge for many industrial applications. In this study, a cascade control for position tracking using torque and position measurement of an SMA-actuated rotary actuator is considered. The effects of the SMA characteristic model on control performance are also focused when simulation consequences are directly applied in practice. Based on nonlinear and unknown dynamics of an SMA actuator, a torque regulation adaptive controller using modified Brinson model is developed that requires to approximate the parameters of the system by only measuring SMA force and actuator rotation. Although it is shown that only an approximate model of the system is sufficient to develop the proposed controller, the system dynamic is simulated using MATLAB software, and the characteristics of SMA wire is considered by both modified Brinson constitutive model and Liang and Rogers constitutive model. The controller gains are regulated for both of the mentioned models using simulation. Finally, the performance of both controllers is further evaluated experimentally, and the accuracy of the proposed controller based on the modified Brinson model is compared to the controller based on the Liang and Rogers model. It is shown that since the Brinson model has a better prediction of the SMA wire behavior, the simulation results based on the modified Brinson model have better conformity to reality.

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“…SMA actuators for position control system using self-tuning fuzzy PID controller for a single SMA wire is reported in [14]. Lately, Tabrizi et al have presented a nonlinear position control of antagonistic shape memory alloy actuators which uses a constitutive model, phase transformation model and a heat transfer model [15]. This work is from the motivation in the use of low degree-of-freedom robots to perform intricate manipulation, the academic interest to understand the simplest mechanisms capable of performing a given mission and the economic motive to build simpler and cheaper robots.…”

Section: Introductionmentioning

confidence: 99%