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Modeling and control of shape memory alloy actuator using feedback linearization
Li XG(李晓光); Zhang DH(张道辉); Zhao XG(赵新刚); Han JD(韩建达)
Department机器人学研究室
Conference Name36th Chinese Control Conference, CCC 2017
Conference DateJuly 26-28, 2017
Conference PlaceDalian, China
Author of SourceDalian University of Technology ; Systems Engineering Society of China (SESC) ; Technical Committee on Control Theory (TCCT), Chinese Association of Automation (CAA)
Source PublicationProceedings of the 36th Chinese Control Conference, CCC 2017
PublisherIEEE Computer Society
Publication PlacePiscataway, NJ, USA
2017
Pages1222-1227
Indexed ByEI ; CPCI(ISTP)
EI Accession number20174404320818
WOS IDWOS:000432014401171
Contribution Rank1
ISSN1934-1768
ISBN978-1-5386-2918-5
KeywordSma Fbl Modeling
Abstract

The paper presents the modeling and linear control of shape memory alloy (SMA) actuator. A complete system mathematical model of SMA actuator is constructed, all uncertain parameters are evaluated through nonlinear least squares method from Matlab parameter estimation tool. The feedback linearization (FBL) theory is applied, The SMA actuator system is transformed from nonlinear system to linear system so that all mature linear control theory can be used. In this paper, a simple gain matrix is utilized to establish Hurwitz, achieves the output position tracking, and ensures the system stability. Two control schemes, FBL and PID, are compared in dynamic response and response error.

Language英语
Citation statistics
Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/21079
Collection机器人学研究室
Corresponding AuthorLi XG(李晓光)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
2.University of Chinese Academy of Sciences, Beijing, 100049, China
3.Shenyang University of Technology, Shenyang, 110870, China
Recommended Citation
GB/T 7714
Li XG,Zhang DH,Zhao XG,et al. Modeling and control of shape memory alloy actuator using feedback linearization[C]//Dalian University of Technology, Systems Engineering Society of China (SESC), Technical Committee on Control Theory (TCCT), Chinese Association of Automation (CAA). Piscataway, NJ, USA:IEEE Computer Society,2017:1222-1227.
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