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Robust Control of a Class of Mechanical Systems Actuated by Shape Memory Alloys.

Bibliographic Details
Main Authors:	Jala, Vijay Reddy., Ashrafiuon, Hashem.
Format:	Villanova Faculty Authorship
Language:	English
Published:	2006
Online Access:	http://ezproxy.villanova.edu/login?url=https://digital.library.villanova.edu/Item/vudl:173909

Main Authors:

Jala, Vijay Reddy., Ashrafiuon, Hashem.

Format:

Villanova Faculty Authorship

Language:

English

Published:

2006

Online Access:

http://ezproxy.villanova.edu/login?url=https://digital.library.villanova.edu/Item/vudl:173909

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spelling	Robust Control of a Class of Mechanical Systems Actuated by Shape Memory Alloys. Jala, Vijay Reddy. Ashrafiuon, Hashem. This paper presents a model-based sliding mode control law for interconnected mechanical systems which use Shape Memory Alloys (SMA) as actuators. The systems under consideration are assumed to be fully actuated and represented by unconstrained equations of motion. A system model is developed which combines the equations of motion with SMA heat convection, constitutive law, and phase transformation equations. The sliding mode control law is introduced using asymptotically stable second-order sliding surfaces. Robustness is guaranteed through 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. The control law is applied to a three-link planar robot for set point and trajectory tracking problems and shown to be effective despite significant modeling uncertainty and lack of measurements for all states except the joint angles. 2006 Villanova Faculty Authorship vudl:173909 Proceedings of the 2006 American Control Conference, 5923-5928. en
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dc.creator_txt_mv	Jala, Vijay Reddy. Ashrafiuon, Hashem.
dc.description_txt_mv	This paper presents a model-based sliding mode control law for interconnected mechanical systems which use Shape Memory Alloys (SMA) as actuators. The systems under consideration are assumed to be fully actuated and represented by unconstrained equations of motion. A system model is developed which combines the equations of motion with SMA heat convection, constitutive law, and phase transformation equations. The sliding mode control law is introduced using asymptotically stable second-order sliding surfaces. Robustness is guaranteed through 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. The control law is applied to a three-link planar robot for set point and trajectory tracking problems and shown to be effective despite significant modeling uncertainty and lack of measurements for all states except the joint angles.
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author	Jala, Vijay Reddy. Ashrafiuon, Hashem.
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title	Robust Control of a Class of Mechanical Systems Actuated by Shape Memory Alloys.
title_full	Robust Control of a Class of Mechanical Systems Actuated by Shape Memory Alloys.
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Robust Control of a Class of Mechanical Systems Actuated by Shape Memory Alloys.
Jala, Vijay Reddy.
Ashrafiuon, Hashem.
This paper presents a model-based sliding mode control law for interconnected mechanical systems which use Shape Memory Alloys (SMA) as actuators. The systems under consideration are assumed to be fully actuated and represented by unconstrained equations of motion. A system model is developed which combines the equations of motion with SMA heat convection, constitutive law, and phase transformation equations. The sliding mode control law is introduced using asymptotically stable second-order sliding surfaces. Robustness is guaranteed through 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. The control law is applied to a three-link planar robot for set point and trajectory tracking problems and shown to be effective despite significant modeling uncertainty and lack of measurements for all states except the joint angles.
2006
Villanova Faculty Authorship
vudl:173909
Proceedings of the 2006 American Control Conference, 5923-5928.
en

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Robust Control of a Class of Mechanical Systems Actuated by Shape Memory Alloys.

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Jala, Vijay Reddy.
Ashrafiuon, Hashem.

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This paper presents a model-based sliding mode control law for interconnected mechanical systems which use Shape Memory Alloys (SMA) as actuators. The systems under consideration are assumed to be fully actuated and represented by unconstrained equations of motion. A system model is developed which combines the equations of motion with SMA heat convection, constitutive law, and phase transformation equations. The sliding mode control law is introduced using asymptotically stable second-order sliding surfaces. Robustness is guaranteed through 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. The control law is applied to a three-link planar robot for set point and trajectory tracking problems and shown to be effective despite significant modeling uncertainty and lack of measurements for all states except the joint angles.

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Ashrafiuon, Hashem.

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Ashrafiuon, Hashem.
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Ashrafiuon, Hashem.

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Robust Control of a Class of Mechanical Systems Actuated by Shape Memory Alloys.

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