PI Controller Tuning via Data-Driven Algorithms for Shape Memory Alloy Systems

Roman, Raul‐Cristian; Precup, Radu; Preitl, Ștefan; Szedlak-Stînean, Alexandra-Iulia; Bojan-Dragoş, Claudia-Adina; Elena-Lorena-Hedrea,; Petriu, Emil M.

doi:10.1016/j.ifacol.2023.01.069

Cited by 4 publications

(1 citation statement)

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“…Various control approaches have been explored, including the application of an extended Kalman filter for a shape memory alloy arm [21], virtual reference feedback [22], active disturbance rejection control for flexible bioinspired robotics devices [23], and sliding modes such as model-free adaptive sliding mode, PID, MFAC for SMA-actuated systems [24]. Proportional Integral (PI) controllers, known for their ease of implementation, have been successfully applied, as seen in a robust PI controller for an interactive rubber composite [20] and a PI controller designed and validated for an SMA wire in experiments [25], aiming for optimal tuning.…”

Section: Introductionmentioning

confidence: 99%

Manufacture and Deformation Angle Control of a Two-Direction Soft Actuator Integrated with SMAs

Acevedo-Velazquez,

Wang,

Winkler

et al. 2024

Materials

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In this contribution, the development of a 3D-printed soft actuator integrated with shape memory alloys (SMA) wires capable of bending in two directions is presented. This work discusses the design, manufacturing, modeling, simulation, and feedback control of the actuator. The SMA wires are encased in Polytetrafluoroethylene (PTFE) tubes and then integrated into the 3D-printed matrix made of thermoplastic polyurethane (TPU). To measure and control the deformation angle of the soft actuator, a computer vision system was implemented. Based on the experimental results, a mathematical model was developed using the system identification method and simulated to describe the dynamics of the actuator, contributing to the design of a controller. However, achieving precise control of the deformation angle in systems actuated by SMA wires is challenging due to their inherent nonlinearities and hysteretic behavior. A proportional-integral (PI) controller was designed to address this challenge, and its effectiveness was validated through real experiments.

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