A Temperature-based Controller for a Shape Memory Alloy Actuator.

This paper presents a robust nonlinear control that uses a state variable estimator for control of a single degree of freedom rotary manipulator actuated by shape memory alloy (SMA) wire. A model for SMA actuated manipulator is presented. The model includes nonlinear dynamics of the manipulator, a constitutive model of the shape memory alloy, and the electrical and heat transfer behavior of SMA wire. The current experimental setup allows for the measurement of only one state variable which is the angular position of the arm. Due to measurement difficulties, the other three state variables, arm angular velocity and SMA wire stress and temperature, cannot be directly measured. A modelbased state estimator that works with noisy measurements is presented based on the extended Kalman filter (EKF). This estimator estimates the state vector at each time step and corrects its estimation based on the angular position measurements. The estimator is then used in a nonlinear and robust control algorithm based on variable structure control (VSC). The VSC algorithm is a control gain switching technique based on the arm angular position (and velocity) feedback and EKF estimated SMA wire stress and temperature. Using simulation it is shown that the state vector estimates help reduce or avoid the undesirable and inefficient overshoot problem in SMA one-way actuation control.

Main Author: Elahinia, Mohammad H.
Other Authors: Ashrafiuon, Hashem., Ahmadian, Mehdi., Tan, Hanghao.
Format: Villanova Faculty Authorship
Language: English
Published: 2005
Online Access: http://ezproxy.villanova.edu/login?url=https://digital.library.villanova.edu/Item/vudl:173861
PID vudl:173861
id vudl:173861
modeltype_str_mv vudl-system:CoreModel
vudl-system:CollectionModel
vudl-system:ResourceCollection
datastream_str_mv DC
PARENT-QUERY
PARENT-LIST-RAW
PARENT-LIST
MEMBER-QUERY
MEMBER-LIST-RAW
LEGACY-METS
LICENSE
AGENTS
PROCESS-MD
THUMBNAIL
STRUCTMAP
RELS-EXT
hierarchytype
sequence_vudl_173857_str 0000000002
has_order_str no
hierarchy_top_id vudl:641262
hierarchy_top_title Villanova faculty author
hierarchy_parent_id vudl:173857
hierarchy_parent_title Ashrafiuon Hashem
hierarchy_sequence 0000000002
hierarchy_first_parent_id_str vudl:173861
hierarchy_sequence_sort_str 0000000002
hierarchy_all_parents_str_mv vudl:641262
vudl:172968
vudl:173857
first_indexed 2014-01-11T22:46:10Z
last_indexed 2021-04-12T20:12:44Z
recordtype vudl
fullrecord <root> <url> http://digital.library.villanova.edu/files/vudl:173861/DC </url> <thumbnail> http://digital.library.villanova.edu/files/vudl:173861/THUMBNAIL </thumbnail> </root>
spelling
institution Villanova University
collection Digital Library
language English
dc_source_str_mv Journal of Vibration and Acoustics 127, June 2005, 285-291.
author Elahinia, Mohammad H.
author_facet_str_mv Elahinia, Mohammad H.
Ashrafiuon, Hashem.
Ahmadian, Mehdi.
Tan, Hanghao.
author_or_contributor_facet_str_mv Elahinia, Mohammad H.
Ashrafiuon, Hashem.
Ahmadian, Mehdi.
Tan, Hanghao.
author_s Elahinia, Mohammad H.
spellingShingle Elahinia, Mohammad H.
A Temperature-based Controller for a Shape Memory Alloy Actuator.
author-letter Elahinia, Mohammad H.
author_sort_str Elahinia, Mohammad H.
author2 Ashrafiuon, Hashem.
Ahmadian, Mehdi.
Tan, Hanghao.
author2Str Ashrafiuon, Hashem.
Ahmadian, Mehdi.
Tan, Hanghao.
dc_title_str A Temperature-based Controller for a Shape Memory Alloy Actuator.
title A Temperature-based Controller for a Shape Memory Alloy Actuator.
title_short A Temperature-based Controller for a Shape Memory Alloy Actuator.
title_full A Temperature-based Controller for a Shape Memory Alloy Actuator.
title_fullStr A Temperature-based Controller for a Shape Memory Alloy Actuator.
title_full_unstemmed A Temperature-based Controller for a Shape Memory Alloy Actuator.
collection_title_sort_str temperature-based controller for a shape memory alloy actuator.
title_sort temperature-based controller for a shape memory alloy actuator.
format Villanova Faculty Authorship
description This paper presents a robust nonlinear control that uses a state variable estimator for control of a single degree of freedom rotary manipulator actuated by shape memory alloy (SMA) wire. A model for SMA actuated manipulator is presented. The model includes nonlinear dynamics of the manipulator, a constitutive model of the shape memory alloy, and the electrical and heat transfer behavior of SMA wire. The current experimental setup allows for the measurement of only one state variable which is the angular position of the arm. Due to measurement difficulties, the other three state variables, arm angular velocity and SMA wire stress and temperature, cannot be directly measured. A modelbased state estimator that works with noisy measurements is presented based on the extended Kalman filter (EKF). This estimator estimates the state vector at each time step and corrects its estimation based on the angular position measurements. The estimator is then used in a nonlinear and robust control algorithm based on variable structure control (VSC). The VSC algorithm is a control gain switching technique based on the arm angular position (and velocity) feedback and EKF estimated SMA wire stress and temperature. Using simulation it is shown that the state vector estimates help reduce or avoid the undesirable and inefficient overshoot problem in SMA one-way actuation control.
publishDate 2005
normalized_sort_date 2005-01-01T00:00:00Z
dc_date_str 2005
license_str protected
REPOSITORYNAME FgsRepos
REPOSBASEURL http://hades.library.villanova.edu:8088/fedora
fgs.state Active
fgs.label A Temperature-based Controller for a Shape Memory Alloy Actuator.
fgs.ownerId diglibEditor
fgs.createdDate 2013-01-22T03:14:34.163Z
fgs.lastModifiedDate 2021-04-12T19:19:39.330Z
dc.title A Temperature-based Controller for a Shape Memory Alloy Actuator.
dc.creator Elahinia, Mohammad H.
Ashrafiuon, Hashem.
Ahmadian, Mehdi.
Tan, Hanghao.
dc.description This paper presents a robust nonlinear control that uses a state variable estimator for control of a single degree of freedom rotary manipulator actuated by shape memory alloy (SMA) wire. A model for SMA actuated manipulator is presented. The model includes nonlinear dynamics of the manipulator, a constitutive model of the shape memory alloy, and the electrical and heat transfer behavior of SMA wire. The current experimental setup allows for the measurement of only one state variable which is the angular position of the arm. Due to measurement difficulties, the other three state variables, arm angular velocity and SMA wire stress and temperature, cannot be directly measured. A modelbased state estimator that works with noisy measurements is presented based on the extended Kalman filter (EKF). This estimator estimates the state vector at each time step and corrects its estimation based on the angular position measurements. The estimator is then used in a nonlinear and robust control algorithm based on variable structure control (VSC). The VSC algorithm is a control gain switching technique based on the arm angular position (and velocity) feedback and EKF estimated SMA wire stress and temperature. Using simulation it is shown that the state vector estimates help reduce or avoid the undesirable and inefficient overshoot problem in SMA one-way actuation control.
dc.date 2005
dc.format Villanova Faculty Authorship
dc.identifier vudl:173861
dc.source Journal of Vibration and Acoustics 127, June 2005, 285-291.
dc.language en
license.mdRef http://digital.library.villanova.edu/copyright.html
agent.name Falvey Memorial Library, Villanova University
AAD
has_thumbnail true
THUMBNAIL_contentDigest_type MD5
THUMBNAIL_contentDigest_digest 203c69e18f4f46c81e9892448d2c07cd
THUMBNAIL_contentLocation_type INTERNAL_ID
THUMBNAIL_contentLocation_ref http://hades-vm.library.villanova.edu:8088/fedora/get/vudl:173861/THUMBNAIL/2013-01-22T03:14:35.965Z
relsext.hasModel info:fedora/vudl-system:CoreModel
info:fedora/vudl-system:CollectionModel
info:fedora/vudl-system:ResourceCollection
relsext.itemID oai:digital.library.villanova.edu:vudl:173861
relsext.isMemberOf info:fedora/vudl:173857
relsext.hasLegacyURL http://digital.library.villanova.edu/Villanova%20Digital%20Collection/Faculty%20Fulltext/Ashrafiuon%20Hashem/AshrafiuonHashem-c7a3b081-0b98-4f8c-bac3-cfb297bfc3b5.xml
relsext.sortOn title
relsext.sequence vudl:173857#2
_version_ 1696866883087630336
score 13.585135
subpages