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Sliding Mode Control of a SMA Actuator Based on Unscented Kalman Filter
Li XG(李晓光); Zhang DH(张道辉); Zhang B(张弼); Zhao XG(赵新刚)
Department机器人学研究室
Conference Name2018 IEEE International Conference on Robotics and Biomimetics (ROBIO)
Conference DateDecember 12-15, 2018
Conference PlaceKuala Lumpur, Malaysia
Source PublicationProceedings of the 2018 IEEE International Conference on Robotics and Biomimetics
PublisherIEEE
Publication PlaceNew York
2018
Pages1431-1436
Indexed ByEI ; CPCI(ISTP)
EI Accession number20191506772423
WOS IDWOS:000468772200226
Contribution Rank1
ISBN978-1-7281-0376-1
AbstractThis brief describes the mathematical model for shape memory alloy (SMA) actuator based on the physics of the process and presents a model-based sliding mode control (SMC) law. It is noted that only the contraction displacement can be obtained by the encoder. Whereas the unmeasured states can be estimated using an unscented Kalman filter (UKF) algorithm based on the nonlinear mechanism model. The comparisons between SMC incorporated with an UKF and SMC show that the tracking results of the proposed method is better than the previous one. Meanwhile, the load disturbance rejection result verifies the proposed controller has the ability to compensate the disturbance and ensure the robust stability property.
Language英语
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Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/24654
Collection机器人学研究室
Corresponding AuthorLi XG(李晓光)
AffiliationCAS, State Key Laboratory of Robotics, Shenyang Institute of Automation, Shenyang 110016, China
Recommended Citation
GB/T 7714
Li XG,Zhang DH,Zhang B,et al. Sliding Mode Control of a SMA Actuator Based on Unscented Kalman Filter[C]. New York:IEEE,2018:1431-1436.
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