This paper presents a robust nonlinear control that uses a state variable estimator for control of a single degree of freedom rotary manipulator actuated by shape memory alloy (SMA) wire. A model for SMA actuated manipulator is presented. The model includes nonlinear dynamics of the manipulator, a constitutive model of the shape memory alloy, and the electrical and heat transfer behavior of SMA wire. The current experimental setup allows for the measurement of only one state variable which is the angular position of the arm. Due to measurement difficulties, the other three state variables, arm angular velocity and SMA wire stress and temperature, cannot be directly measured. A model-based state estimator that works with noisy measurements is presented based on the extended Kalman filter (EKF). This estimator estimates the state vector at each time step and corrects its estimation based on the angular position measurements. The estimator is then used in a nonlinear and robust control algorithm based on variable structure control (VSC). The VSC algorithm is a control gain switching technique based on the arm angular position (and velocity) feedback and EKF estimated SMA wire stress and temperature. Using simulation it is shown that the state vector estimates help reduce or avoid the undesirable and inefficient overshoot problem in SMA one-way actuation control.
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June 2005
Technical Briefs
A Temperature-based Controller for a Shape Memory Alloy Actuator
Mohammad H. Elahinia, Assistant Professor,
Mohammad H. Elahinia, Assistant Professor
Mechanical Industrial and Manufacturing Engineering Department, The University of Toledo, Toledo, OH 43606
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Hashem Ashrafiuon, Professor,
Hashem Ashrafiuon, Professor
Mechanical Engineering Department, Villanova University, Villanova, Pennsylvania 19085
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Mehdi Ahmadian, Professor,
Mehdi Ahmadian, Professor
Mechanical Engineering Department, Virginia Tech, Blacksburg, Virginia 24061
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Hanghao Tan, Graduate Research Assistant
Hanghao Tan, Graduate Research Assistant
Mechanical Industrial and Manufacturing Engineering Department, The University of Toledo, Toledo, OH 43606
Search for other works by this author on:
Mohammad H. Elahinia, Assistant Professor
Mechanical Industrial and Manufacturing Engineering Department, The University of Toledo, Toledo, OH 43606
Hashem Ashrafiuon, Professor
Mechanical Engineering Department, Villanova University, Villanova, Pennsylvania 19085
Mehdi Ahmadian, Professor
Mechanical Engineering Department, Virginia Tech, Blacksburg, Virginia 24061
Hanghao Tan, Graduate Research Assistant
Mechanical Industrial and Manufacturing Engineering Department, The University of Toledo, Toledo, OH 43606
J. Vib. Acoust. Jun 2005, 127(3): 285-291 (7 pages)
Published Online: June 1, 2005
Article history
Received:
June 10, 2003
Revised:
July 7, 2004
Online:
May 18, 2005
Citation
Elahinia, M. H., Ashrafiuon, H., Ahmadian, M., and Tan, H. (June 1, 2005). "A Temperature-based Controller for a Shape Memory Alloy Actuator." ASME. J. Vib. Acoust. June 2005; 127(3): 285–291. https://doi.org/10.1115/1.1898335
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