Stress Based Control of a Single-Degree-of-Freedom SMA Actuated Arm
Abstract
In this paper a nonlinear stress-based controller is designed to position a single-degree-of-freedom shape memory alloy (SMA) actuated manipulator. A three part model was constructed based on the dynamics/kinematics of the arm, the thermomechanical behavior of SMA's and a heat transfer model consisting of electrical heating and natural convection. A variable structure controller is designed to calculate a desiredness based on position error. The desired stress is compared with the actual stress which is computed using a Kalman filter. The stress error is then used for control via a proportional-integral (PI) controller. Numerical simulations are performed to investigate tracking performance and robustness. The results demonstrate that the controller design is highly accurate in tracking both stationary and time-varying input signals.
Document Details
- Document Type
- Technical Report
- Publication Date
- Jun 01, 2003
- Accession Number
- ADA429536
Entities
People
- Daniel J. Inman
- Donald J. Leo
- Mohammad H. Elahinia
- T. M. Seigler
Organizations
- Virginia Tech