Sliding Mode Control of Mechanical Systems Actuated by Shape Memory Alloy.

This paper presents a model-based sliding mode control law for mechanical systems, which use shape memory alloys (SMAs) as actuators. The systems under consideration are assumed to be fully actuated and represented by unconstrained equations of motion. A system model is developed by combining the eq...

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Main Authors: Ashrafiuon, Hashem., Jala, Vijay Reddy.
Format: Villanova Faculty Authorship
Language:English
Published: 2009
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spelling Sliding Mode Control of Mechanical Systems Actuated by Shape Memory Alloy.
Ashrafiuon, Hashem.
Jala, Vijay Reddy.
This paper presents a model-based sliding mode control law for mechanical systems, which use shape memory alloys (SMAs) as actuators. The systems under consideration are assumed to be fully actuated and represented by unconstrained equations of motion. A system model is developed by combining the equations of motion with SMA heat convection, constitutive law, and phase transformation equations, which account for hysteresis. The control law is introduced using asymptotically stable second-order sliding surfaces. Robustness is guaranteed through the 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 based on the nonlinear system model. The control law is applied to a three-link planar robot for position control problem. Simulation and experimental results show good agreement and verify the robustness of the control law despite significant modeling uncertainty.
2009
Villanova Faculty Authorship
vudl:173921
Journal of Dynamic Systems, Measurement, and Control 131, January 2009, 011010-1 - 011010-6.
en
dc.title_txt_mv Sliding Mode Control of Mechanical Systems Actuated by Shape Memory Alloy.
dc.creator_txt_mv Ashrafiuon, Hashem.
Jala, Vijay Reddy.
dc.description_txt_mv This paper presents a model-based sliding mode control law for mechanical systems, which use shape memory alloys (SMAs) as actuators. The systems under consideration are assumed to be fully actuated and represented by unconstrained equations of motion. A system model is developed by combining the equations of motion with SMA heat convection, constitutive law, and phase transformation equations, which account for hysteresis. The control law is introduced using asymptotically stable second-order sliding surfaces. Robustness is guaranteed through the 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 based on the nonlinear system model. The control law is applied to a three-link planar robot for position control problem. Simulation and experimental results show good agreement and verify the robustness of the control law despite significant modeling uncertainty.
dc.date_txt_mv 2009
dc.format_txt_mv Villanova Faculty Authorship
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dc.source_txt_mv Journal of Dynamic Systems, Measurement, and Control 131, January 2009, 011010-1 - 011010-6.
dc.language_txt_mv en
author Ashrafiuon, Hashem.
Jala, Vijay Reddy.
spellingShingle Ashrafiuon, Hashem.
Jala, Vijay Reddy.
Sliding Mode Control of Mechanical Systems Actuated by Shape Memory Alloy.
author_facet Ashrafiuon, Hashem.
Jala, Vijay Reddy.
dc_source_str_mv Journal of Dynamic Systems, Measurement, and Control 131, January 2009, 011010-1 - 011010-6.
format Villanova Faculty Authorship
author_sort Ashrafiuon, Hashem.
dc_date_str 2009
dc_title_str Sliding Mode Control of Mechanical Systems Actuated by Shape Memory Alloy.
description This paper presents a model-based sliding mode control law for mechanical systems, which use shape memory alloys (SMAs) as actuators. The systems under consideration are assumed to be fully actuated and represented by unconstrained equations of motion. A system model is developed by combining the equations of motion with SMA heat convection, constitutive law, and phase transformation equations, which account for hysteresis. The control law is introduced using asymptotically stable second-order sliding surfaces. Robustness is guaranteed through the 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 based on the nonlinear system model. The control law is applied to a three-link planar robot for position control problem. Simulation and experimental results show good agreement and verify the robustness of the control law despite significant modeling uncertainty.
title Sliding Mode Control of Mechanical Systems Actuated by Shape Memory Alloy.
title_full Sliding Mode Control of Mechanical Systems Actuated by Shape Memory Alloy.
title_fullStr Sliding Mode Control of Mechanical Systems Actuated by Shape Memory Alloy.
title_full_unstemmed Sliding Mode Control of Mechanical Systems Actuated by Shape Memory Alloy.
title_short Sliding Mode Control of Mechanical Systems Actuated by Shape Memory Alloy.
title_sort sliding mode control of mechanical systems actuated by shape memory alloy.
publishDate 2009
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language English
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