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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)
作者部门机器人学研究室
会议名称36th Chinese Control Conference, CCC 2017
会议日期July 26-28, 2017
会议地点Dalian, China
会议主办者Dalian University of Technology ; Systems Engineering Society of China (SESC) ; Technical Committee on Control Theory (TCCT), Chinese Association of Automation (CAA)
会议录名称Proceedings of the 36th Chinese Control Conference, CCC 2017
出版者IEEE Computer Society
出版地Piscataway, NJ, USA
2017
页码1222-1227
收录类别EI ; CPCI(ISTP)
EI收录号20174404320818
WOS记录号WOS:000432014401171
产权排序1
ISSN号1934-1768
ISBN号978-1-5386-2918-5
关键词Sma Fbl Modeling
摘要

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.

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被引频次:1[WOS]   [WOS记录]     [WOS相关记录]
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/21079
专题机器人学研究室
通讯作者Li XG(李晓光)
作者单位1.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
推荐引用方式
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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