Stability analysis and nonlinear control of a miniature shape memory alloy actuator for precise applications

Shameli, E.; Alasty, Aria; Salaarieh, H.

doi:10.1016/j.mechatronics.2004.10.001

Cited by 36 publications

(21 citation statements)

References 11 publications

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“…Experimental data have shown that a high gain is required to eliminate the steady-state error, but at the cost of a higher overshoot and actuator saturation. Shameli et al [7] have used a nonlinear variation of a PID controller referred to as PID-P3 controller. Their simulations showed that for large values of error, the cubic term of the regulator, which is the main difference with respect to a traditional controller, produces great control effort that reduces significantly the settling time.…”

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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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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“…Closed loop tracking (9) where (k) = y(k) − y * (k) is the tracking error and Δ( (k)) is a closed-loop feedback controller base on the tracking error. Note that the term −…”

Section: Esomat 2009mentioning

confidence: 99%

“…On the opposite side, Robotics research have been done on SMA actuator by using simpler model and classical control method. A lot of control strategies have been applied to SMA actuators, classical PID loop are used in [8], [9] a e-mail: gedouin@enib.fr and [10]. A feedforward path is added in [11]; the feedforward command is obtain by using a Preisach model for the hysteretic effect.…”

Section: Introductionmentioning

confidence: 99%

A new control strategy for shape memory alloys actuators

Gédouin

Join

Delaleau

et al. 2009

ESOMAT 2009 - 8th European Symposium on Martensitic Transformations

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Abstract. Shape memory alloys (SMA) are more and more integrated in engineering applications. These materials with their shape memory effect permit to simplify mechanism and to reduce the size of actuators. SMA parts can easily be activated by Joule effect but their modelling and consequently their control remains difficult, it is principally due to their hysteretic thermomechanical behaviour. Another difficulty is that the characteristics of the material are timevarying, especially during cyclic loadings. So, most of successful control strategy applied to SMA actuator are particularly heavy and used the Preisach model or neural networks to model the hysteretic behaviour of these material but this kind of models are difficult to identify and to use in real time. That is why this study deals with an application of the new framework of model-free control and restricted model control applied to a SMA spring based actuator. This control strategy is based on new results on fast derivative s estimation of noisy signals, its main advantages are: its simplicity, its robustness and the fact that it is easy to compute. Experimental results and comparisons with PID control are exposed that demonstrate the efficiency of this new control strategy despite thermal perturbations.

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“…A halogen lamp was integrated to provide the radiant energy to activate SMA actuator. A modified PID controller called PID-P 3 was proposed by Shameli et al [9] for a typical SMA actuator, where a bending leaf spring was used to produce the bias force required to activate SMA actuator.…”

Section: Introductionmentioning

confidence: 99%

Design and Implementation of Gains Scheduled PI Control System for Shape Memory Alloy Actuator

Ahmed¹,

Bassiuny²,

Bakr³

2013

IJMO

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Abstract-Shape memory alloy (SMA) actuators provide unique features for motion control applications due to their compact design and high force to weight ratio. Integration of SMA actuators in motion control applications has not been widely employed due to their nonlinear behaviors and control difficulties. In this paper, the concept of model-based control of SMA actuators is introduced. Time variable parameter (TVP) model is used to describe the actuator dynamics. Gain scheduled Proportional-Integral (PI) controller with time variable gains has been developed based on pole placement technique. Experimental evaluation of gains schedule PI controller for SMA actuators shows stable and robust response that could compensate for the nonlinear phenomenon of these actuators.

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Stability analysis and nonlinear control of a miniature shape memory alloy actuator for precise applications

Cited by 36 publications

References 11 publications

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

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

A new control strategy for shape memory alloys actuators

Design and Implementation of Gains Scheduled PI Control System for Shape Memory Alloy Actuator

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