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TECHNICAL BRIEFS

Experimental Study of the Robust Tracking Control of a Shape Memory Alloy Wire Actuator

[+] Author and Article Information
G. Song

Department of Mechanical Engineering, University of Houston, Houston, TX 77204-4006 e-mail: gsong@uh.edu

D. D. Quinn

Department of Mechanical Engineering, University of Akron, Akron, OH 44325

J. Dyn. Sys., Meas., Control 126(3), 674-677 (Dec 03, 2004) (4 pages) doi:10.1115/1.1792652 History: Online December 03, 2004
Copyright © 2004 by ASME
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References

Madill, D. R., and Wang, D., 1994, “L2-Stability of a Shape Memory Alloy Position Control System,” Proc. of IEEE 33rd Conference on Decision and Control, Lake Buena Vista, FL, pp. 399–404.
Gorbet, R. B., and Wang, D. W. L., 1995, “General Stability Criteria for a Shape Memory Alloy Position Control System,” Proc. of IEEE International Conference on Robotics and Automation, Nagoya, Japan, pp. 2313–2319.
Kudva, J., Sanders, N. B., Pinkerton-Florance, J., and Garcia, E., 2001, “Overview of the DARPA/AFRL/NASA Smart Wing Phase 2 Program,” Proc. of SPIE 2001 International Symposium on Smart Structures and Materials: Industrial and Commercial Applications of Smart Structures Technologies, Anna-Maria R. McGowan, ed., Vol. 4332, pp. 383–389.
Duerig, T. W., Melton, K. N., Stockel, D., and Wayman, C. M., 1990, Engineering Aspects of Shape Memory Alloys, Butterworth Heinemann, London.
Rhee,  S. W., and Koval,  L. R., 1993, “Comparison of Classical With Robust Control for SMA Smart Structures,” Smart Mater. Struct., 2(3), pp. 162–171.
Grant, D., and Hayward, V., 1997, “Variable Structure Control of Shape Memory Alloy Actuators,” IEEE Control Syst. Mag., pp. 80–88.
Cruz-Hernandez,  J. M., and Hayward,  V., 2001, “Phase Control Approach to Hysteresis Reduction,” IEEE Trans. Control Syst. Technol., 9(1), pp. 17–26.
Choi,  S. B., Han,  Y. M., Kim,  J. H., and Cheong,  C. C., 2001, “Force Tracking Control of a Flexible Gripper Featuring Shape Memory Alloy Actuators,” Mechatronics, 11(6), pp. 677–690.
Song,  G., and Mukherjee,  R., 1998, “A Comparative Study of Conventional Non-Smooth Time-Invariant and Smooth Time-Varying Robust Compensators,” IEEE Trans. Control Syst. Technol., 6(4), pp. 571–576.
Cai, L., and Song, G., 1993, “A Smooth Robust Nonlinear Controller for Robot Manipulator With Joint Stick-Slip Friction,” Proc. IEEE Int. Conf. Robotics Autom., Atlanta, GA, IEEE, New York, pp. 449–454.
Cai, L., and Abdalla, A., 1993, “A Smooth Tracking Controllers for Uncertain Robot Manipulator,” Proc. IEEE Int. Conf. Robotics Autom., Atlanta, GA, IEEE, New York, pp. 83–88.

Figures

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The single SMA wire test stand
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Hysteresis loop of the SMA wire actuator
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Desired and actual displacements
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Position error (RMS error: 0.063 mm)
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Applied voltage (top) and current (bottom)
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Desired and actual displacement in case of nonlinear sliding surface
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Position error (RMS error: 0.046 mm) in case of nonlinear sliding surface
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Applied voltage (top) and current (bottom) in case of nonlinear sliding surface

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