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Nonlinear Control of a Shape Memory Alloy Actuated Manipulator.

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

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

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spelling	Nonlinear Control of a Shape Memory Alloy Actuated Manipulator. Elahinia, Mohammad H. Ashrafiuon, Hashem. 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 model of Shape Memory Alloy, and electrical and heat transfer behavior of SMA wire. This model is used for open and closed loop motion simulations of the manipulator. Experiments are presented that show results similar to both closed and open loop simulation results. Due to modeling uncertainty and nonlinear behavior of the system, classic control methods such as Proportional-Integral- Derivative control are not able to present fast and accurate performance. Hence a nonlinear, robust control algorithm is presented based on Variable Structure Control. This algorithm is a control gain switching technique based on the weighted average of position and velocity feedbacks. This method has been designed through simulation and tested experimentally. Results show fast, accurate, and robust performance of the control system. Computer simulation and experimental results for different stabilization and tracking situations are also presented. 2002 Villanova Faculty Authorship vudl:173888 Journal of Vibration and Acoustics 124, October 2002, 566-575. en
dc.title_txt_mv	Nonlinear Control of a Shape Memory Alloy Actuated Manipulator.
dc.creator_txt_mv	Elahinia, Mohammad H. Ashrafiuon, Hashem.
dc.description_txt_mv	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 model of Shape Memory Alloy, and electrical and heat transfer behavior of SMA wire. This model is used for open and closed loop motion simulations of the manipulator. Experiments are presented that show results similar to both closed and open loop simulation results. Due to modeling uncertainty and nonlinear behavior of the system, classic control methods such as Proportional-Integral- Derivative control are not able to present fast and accurate performance. Hence a nonlinear, robust control algorithm is presented based on Variable Structure Control. This algorithm is a control gain switching technique based on the weighted average of position and velocity feedbacks. This method has been designed through simulation and tested experimentally. Results show fast, accurate, and robust performance of the control system. Computer simulation and experimental results for different stabilization and tracking situations are also presented.
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author	Elahinia, Mohammad H. Ashrafiuon, Hashem.
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title	Nonlinear Control of a Shape Memory Alloy Actuated Manipulator.
title_full	Nonlinear Control of a Shape Memory Alloy Actuated Manipulator.
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title_short	Nonlinear Control of a Shape Memory Alloy Actuated Manipulator.
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Nonlinear Control of a Shape Memory Alloy Actuated Manipulator.
Elahinia, Mohammad H.
Ashrafiuon, Hashem.
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 model of Shape Memory Alloy, and electrical and heat transfer behavior of SMA wire. This model is used for open and closed loop motion simulations of the manipulator. Experiments are presented that show results similar to both closed and open loop simulation results. Due to modeling uncertainty and nonlinear behavior of the system, classic control methods such as Proportional-Integral- Derivative control are not able to present fast and accurate performance. Hence a nonlinear, robust control algorithm is presented based on Variable Structure Control. This algorithm is a control gain switching technique based on the weighted average of position and velocity feedbacks. This method has been designed through simulation and tested experimentally. Results show fast, accurate, and robust performance of the control system. Computer simulation and experimental results for different stabilization and tracking situations are also presented.
2002
Villanova Faculty Authorship
vudl:173888
Journal of Vibration and Acoustics 124, October 2002, 566-575.
en

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Nonlinear Control of a Shape Memory Alloy Actuated Manipulator.

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Elahinia, Mohammad H.
Ashrafiuon, Hashem.

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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 model of Shape Memory Alloy, and electrical and heat transfer behavior of SMA wire. This model is used for open and closed loop motion simulations of the manipulator. Experiments are presented that show results similar to both closed and open loop simulation results. Due to modeling uncertainty and nonlinear behavior of the system, classic control methods such as Proportional-Integral- Derivative control are not able to present fast and accurate performance. Hence a nonlinear, robust control algorithm is presented based on Variable Structure Control. This algorithm is a control gain switching technique based on the weighted average of position and velocity feedbacks. This method has been designed through simulation and tested experimentally. Results show fast, accurate, and robust performance of the control system. Computer simulation and experimental results for different stabilization and tracking situations are also presented.

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Elahinia, Mohammad H.
Ashrafiuon, Hashem.

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Ashrafiuon, Hashem.
Nonlinear Control of a Shape Memory Alloy Actuated Manipulator.

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Ashrafiuon, Hashem.

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Nonlinear Control of a Shape Memory Alloy Actuated Manipulator.

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