Nonlinear Control of a Shape Memory Alloy Actuated Manipulator.

This paper presents a nonlinear, robust control algorithm for accurate positioning of a single degree of freedom rotary manipulator actuated by Shape Memory Alloy (SMA). A model for an SMA actuated manipulator is presented. The model includes nonlinear dynamics of the manipulator, a constitutive mod...

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Bibliographic Details
Main Authors: Elahinia, Mohammad H., Ashrafiuon, Hashem.
Format: Villanova Faculty Authorship
Language:English
Published: 2002
Online Access:http://ezproxy.villanova.edu/login?url=https://digital.library.villanova.edu/Item/vudl:173888