This paper presents a model-based sliding mode control law for mechanical systems, which use shape memory alloys (SMAs) as actuators. The systems under consideration are assumed to be fully actuated and represented by unconstrained equations of motion. A system model is developed by combining the equations of motion with SMA heat convection, constitutive law, and phase transformation equations, which account for hysteresis. The control law is introduced using asymptotically stable second-order sliding surfaces. Robustness is guaranteed through the inclusion of modeling uncertainties in the controller development. The control law is developed assuming only positions are available for measurement. The unmeasured states, which include velocities and SMA temperatures and stresses, are estimated using an extended Kalman filter based on the nonlinear system model. The control law is applied to a three-link planar robot for position control problem. Simulation and experimental results show good agreement and verify the robustness of the control law despite significant modeling uncertainty.
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January 2009
Research Papers
Sliding Mode Control of Mechanical Systems Actuated by Shape Memory Alloy
Hashem Ashrafiuon,
Hashem Ashrafiuon
Depertment of Mechanical Engineering,
Villanova Unidersity
, Villanova, PA 19085
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Vijay Reddy Jala
Vijay Reddy Jala
Depertment of Mechanical Engineering,
Villanova Unidersity
, Villanova, PA 19085
Search for other works by this author on:
Hashem Ashrafiuon
Depertment of Mechanical Engineering,
Villanova Unidersity
, Villanova, PA 19085
Vijay Reddy Jala
Depertment of Mechanical Engineering,
Villanova Unidersity
, Villanova, PA 19085J. Dyn. Sys., Meas., Control. Jan 2009, 131(1): 011010 (6 pages)
Published Online: December 8, 2008
Article history
Received:
November 27, 2007
Revised:
July 14, 2008
Published:
December 8, 2008
Citation
Ashrafiuon, H., and Jala, V. R. (December 8, 2008). "Sliding Mode Control of Mechanical Systems Actuated by Shape Memory Alloy." ASME. J. Dyn. Sys., Meas., Control. January 2009; 131(1): 011010. https://doi.org/10.1115/1.3023121
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