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

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.

Main Author: Jala, Vijay Reddy.
Other Authors: 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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dc_source_str_mv Proceedings of the 2006 American Control Conference, 5923-5928.
author Jala, Vijay Reddy.
author_facet_str_mv Jala, Vijay Reddy.
Ashrafiuon, Hashem.
author_or_contributor_facet_str_mv Jala, Vijay Reddy.
Ashrafiuon, Hashem.
author_s Jala, Vijay Reddy.
spellingShingle Jala, Vijay Reddy.
Robust Control of a Class of Mechanical Systems Actuated by Shape Memory Alloys.
author-letter Jala, Vijay Reddy.
author_sort_str Jala, Vijay Reddy.
author2 Ashrafiuon, Hashem.
author2Str Ashrafiuon, Hashem.
dc_title_str Robust Control of a Class of Mechanical Systems Actuated by Shape Memory Alloys.
title Robust Control of a Class of Mechanical Systems Actuated by Shape Memory Alloys.
title_short 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.
title_fullStr Robust Control of a Class of Mechanical Systems Actuated by Shape Memory Alloys.
title_full_unstemmed Robust Control of a Class of Mechanical Systems Actuated by Shape Memory Alloys.
collection_title_sort_str robust control of a class of mechanical systems actuated by shape memory alloys.
title_sort robust control of a class of mechanical systems actuated by shape memory alloys.
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description 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.
publishDate 2006
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dc.title Robust Control of a Class of Mechanical Systems Actuated by Shape Memory Alloys.
dc.creator Jala, Vijay Reddy.
Ashrafiuon, Hashem.
dc.description 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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