QUASIPASSIVITY-BASED ROBUST NONLINEAR FLAP POSITIONING CONTROL USING SHAPE MEMORY ALLOY MICRO-ACTUATORS

2005 ◽  
Vol 29 (2) ◽  
pp. 143-161
Author(s):  
Nicolas Léchevin ◽  
Camille Alain Rabbath ◽  
Frank Wong ◽  
O. Boissonneault
Keyword(s):  
Shape Memory Alloy ◽  
Nonlinear Control ◽  
Numerical Simulations ◽  
Shape Memory ◽  
Position Control ◽  
Tracking Error ◽  
Constitutive Law ◽  
Control Law ◽  
Ultimate Boundedness ◽  
Feedback Connection

This paper proposes a quasipassivity-based robust nonlinear control law ensuring position control of a rotary flap by means of an antagonist-type shape memory alloy microactuator. The control system employs variable-structure control to obtain robust performance, phase-lead compensation to quasipassivate the shape memory alloy dynamics and quasipassivity-based analysis to warrant robust ultimate boundedness of system trajectories. The feedback connection of the two paths leads to ultimate boundedness of tracking error trajectories of the plant despite uncertainties in the dynamic loads affecting the leading edge flap and in the friction found in the actuator. Since accurate numerical simulations and development of new concepts of microactuators based on shape memory alloys require a tractable, constitutive law accurately describing the relationship between force, displacement and temperature in the material, the paper also presents a hybrid micro-macro-mechanical shape memory alloy constitutive model. This model is based on a combination of structural modeling on a microscopic scale and transformation kinetics modeling on a macroscopic scale. The proposed control law and hybrid micro-macro-mechanical model are placed in closed-loop by means of numerical simulations that demonstrate the validity of the nonlinear control scheme.

Shape memory alloy actuator: modeling improvements and position control using a temperature inner loop

2018 ◽  
Author(s):  
Thiago Barbosa ◽  
Jés de Jesus Fiais Cerqueira ◽  
Antonio Marcus Nogueira Lima
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Position Control ◽  
Shape Memory Alloy Actuator

scholarly journals Correction to: Accurate position control of shape memory alloy actuation using displacement feedback and self-sensing system

2021 ◽  
Author(s):  
Ermira Junita Abdullah ◽  
Josu Soriano ◽  
Iñaki Fernández de Bastida Garrido ◽  
Dayang Laila Abdul Majid
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Position Control ◽  
Sensing System ◽  
Accurate Position

scholarly journals Disturbance compensation-based output feedback adaptive control for shape memory alloy actuator system

2021 ◽  
Vol 18 (1) ◽  
pp. 172988142199399
Author(s):  
Xiaoguang Li ◽  
Bi Zhang ◽  
Daohui Zhang ◽  
Xingang Zhao ◽  
Jianda Han
Keyword(s):  
Adaptive Control ◽  
Shape Memory Alloy ◽  
Shape Memory ◽  
Control Method ◽  
Control Law ◽  
Reference Trajectory ◽  
Disturbance Compensation ◽  
Comparison Results ◽  
Control Scheme ◽  
Actuator System

Shape memory alloy (SMA) has been utilized as the material of smart actuators due to the miniaturization and lightweight. However, the nonlinearity and hysteresis of SMA material seriously affect the precise control. In this article, a novel disturbance compensation-based adaptive control scheme is developed to improve the control performance of SMA actuator system. Firstly, the nominal model is constructed based on the physical process. Next, an estimator is developed to online update not only the unmeasured system states but also the total disturbance. Then, the novel adaptive controller, which is composed of the nominal control law and the compensation control law, is designed. Finally, the proposed scheme is evaluated in the SMA experimental setup. The comparison results have demonstrated that the proposed control method can track reference trajectory accurately, reject load variations and stochastic disturbances timely, and exhibit satisfactory robust stability. The proposed control scheme is system independent and has some potential in other types of SMA-actuated systems.

Numerical simulations of temperature and stress field of Fe-Mn-Si-Cr-Ni shape memory alloy coating synthesized by laser cladding

Optik ◽  
2021 ◽  
Vol 242 ◽  
pp. 167079
Author(s):  
Qi Zhang ◽  
Peng Xu ◽  
Gangqiang Zha ◽  
Zhi Ouyang ◽  
Detao He
Keyword(s):  
Shape Memory Alloy ◽  
Stress Field ◽  
Numerical Simulations ◽  
Shape Memory ◽  
Laser Cladding ◽  
Alloy Coating

Position Control of a Three-link Shape Memory Alloy Actuated Robot

2006 ◽  
Vol 17 (5) ◽  
pp. 381-392 ◽  
Author(s):  
Hashem Ashrafiuon ◽  
Mojtaba Eshraghi ◽  
Mohammad H. Elahinia
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Position Control

Angular control of differential shape-memory alloy spring actuator for underactuated dynamic system

2021 ◽  
pp. 107754632110216
Author(s):  
M Banu Sundareswari ◽  
G Then Mozhi ◽  
K Dhanalakshmi
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Fractional Order ◽  
Position Control ◽  
Sliding Mode ◽  
Control Effort ◽  
Control Laws ◽  
Integer Order ◽  
Two Degree Of Freedom ◽  
Outer Primary

This article dwells on two technical aspects, the design and implementation of an upgraded version of the differential shape-memory alloy–based revolute actuator/rotary actuating mechanism for stabilization and position control of a two-degree-of-freedom centrally hinged ball on beam system. The actuator is configured with differential and inclined placement of shape-memory alloy springs to provide bidirectional angular shift. The shape-memory alloy spring actuator occupies a smaller space and provides more extensive reformation with justifiable actuation force than an equally able shape-memory alloy wire. The cross or diagonal architecture of shape-memory alloy springs provides force amplification and reduces the actuator’s control effort. The shape-memory alloy spring–embodied actuator’s function is exemplified by the highly dynamic underactuated custom-designed ball balancing system. The ball position control is experimentally demonstrated by cascade control using the control laws that have been unattempted for shape-memory alloy actuated systems; the ball is positioned with linear (integer-order and fractional-order) proportional–integral–derivative controllers optimized with genetic algorithm and particle swarm optimization at the outer/primary loop. Angular control of the shape-memory alloy actuated beam is obtained with nonlinear (integer-order and fractional-order sliding mode control) control algorithms in the inner/secondary loop.

Adaptive predictive control of a novel shape memory alloy rod actuator

2020 ◽  
pp. 095965182097448
Author(s):  
S Farzaneh Hoseini ◽  
S Ali MirMohammadSadeghi ◽  
Alireza Fathi ◽  
Hamidreza Mohammadi Daniali
Keyword(s):  
Control System ◽  
Shape Memory Alloy ◽  
Shape Memory ◽  
Predictive Control ◽  
Smart Materials ◽  
Position Control ◽  
Least Square ◽  
Recursive Least Square ◽  
Shape Memory Alloy Actuator ◽  
Hysteresis Nonlinearity

Shape memory alloys are among the highly applicable smart materials that have recently appealed to scientists from various fields of study. In this article, a novel shape memory alloy actuator, in the form of a rod, is introduced, and an adaptive model predictive control system is designed for position control of the developed actuator. The need for such an advanced control system emanates from the fact that modeling and controlling of shape memory alloy actuators are thwarted by their hysteresis nonlinearity, dilatory response, and high dependence on environmental conditions. Real-time identification and dynamic parameter estimation of the model are addressed according to orthogonal Laguerre functions and recursive least square algorithm. In the end, the designed control system is implemented on the experimental setup of the fabricated shape memory alloy actuator. It is observed that the designed control system successfully tracks the variable step and sinusoidal control references with startling accuracy of ±1 μm.

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