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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2009
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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 |
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Sliding Mode Control of Mechanical Systems Actuated by Shape Memory Alloy. |
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Ashrafiuon, Hashem. Jala, Vijay Reddy. |
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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. |
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2009 |
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Villanova Faculty Authorship |
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vudl:173921 |
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Journal of Dynamic Systems, Measurement, and Control 131, January 2009, 011010-1 - 011010-6. |
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en |
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Ashrafiuon, Hashem. Jala, Vijay Reddy. |
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Ashrafiuon, Hashem. Jala, Vijay Reddy. Sliding Mode Control of Mechanical Systems Actuated by Shape Memory Alloy. |
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Ashrafiuon, Hashem. Jala, Vijay Reddy. |
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Journal of Dynamic Systems, Measurement, and Control 131, January 2009, 011010-1 - 011010-6. |
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Villanova Faculty Authorship |
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Ashrafiuon, Hashem. |
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2009 |
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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. |
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sliding mode control of mechanical systems actuated by shape memory alloy. |
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2009 |
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2009-01-01T00:00:00Z |
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