Sliding Mode Control of a Shape Memory Alloy Actuated Manipulator

Abstract : This paper presents a two-pan controller that uses a state variable estimator for control of a single degree of freedom rotary manipulator acutated by Shape Memory Alloy (SMA) wire. A model for the SMA actuated manipulator is presented. The model includes nonlinear dynamics of the manipulation a constitutive model of the Shape Memory Alloy. and the electrical and heat transfer behavior of SMA wire. The estimator predicts the state vector at each time step and corrects its prediction based on the angular position measurements. The transformation temperatures of the SMA wire are stress dependent: this adds to complexity of the control of the position of the arm for certain angular positions. To overcome this problem a sliding mode controller is designed to calculate the desired stress of the wire based on the desired angular position of the arm. A classical feedback controller maintains this desired stress by regulating the input voltage to the SMA wire. The stress of the wire is a better set-point for the controller since the transformation temperatures and hence the Martensite traction are frictions of the wire's stress. The stabilization and tracking performance of this two-pan controller is presented and compared with a PID controller.

[1]  Vincent Hayward,et al.  Vibration Isolation with High Strain Shape Memory Alloy Actuators: Case of the impulse disturbance , 2000 .

[2]  Vincent Hayward,et al.  Constrained force control of shape memory alloy actuators , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[3]  Koji Ikuta,et al.  Micro/miniature shape memory alloy actuator , 1990, Proceedings., IEEE International Conference on Robotics and Automation.

[4]  Kent D. Choquette,et al.  Proceedings of SPIE - The International Society of Optical Engineering , 2004 .

[5]  Craig A. Rogers,et al.  One-Dimensional Thermomechanical Constitutive Relations for Shape Memory Materials , 1990 .

[6]  S. Aramaki,et al.  Continuous system modeling of shape memory alloy (SMA) for control analysis , 1994, 1994 5th International Symposium on Micro Machine and Human Science Proceedings.

[7]  Seung-Bok Choi,et al.  VIBRATION CONTROL OF A FLEXIBLE BEAM USING SHAPE MEMORY ALLOY ACTUATORS , 1996 .

[8]  Hashem Ashrafiuon,et al.  Nonlinear Control of a Shape Memory Alloy Actuated Manipulator , 2002 .

[9]  Minoru Hashimoto,et al.  Application of shape memory alloy to robotic actuators , 1985 .

[10]  Constantinos Mavroidis,et al.  ANALYTICAL DYNAMIC MODEL AND EXPERIMENTAL ROBUST AND OPTIMAL CONTROL OF SHAPE-MEMORY-ALLOY BUNDLE ACTUATORS , 2002 .

[11]  K. Tanaka.  A THERMOMECHANICAL SKETCH OF SHAPE MEMORY EFFECT: ONE-DIMENSIONAL TENSILE BEHAVIOR , 1986 .

[12]  Gangbing Song,et al.  Precision tracking control of shape memory alloy actuators using neural networks and a sliding-mode based robust controller , 2003 .

[13]  Vincent Hayward,et al.  Variable structure control of shape memory alloy actuators , 1997 .

[14]  L. Brinson.  One-Dimensional Constitutive Behavior of Shape Memory Alloys: Thermomechanical Derivation with Non-Constant Material Functions and Redefined Martensite Internal Variable , 1993 .

[15]  Mehdi Ahmadian,et al.  DESIGN OF EXTENDED KALMAN FILTER FOR A SHAPE MEMORY ALLOY MANIPULATOR , 2003 .

[16]  Akihiko Kumagai,et al.  Neurofuzzy-model-based feedback controller for shape memory alloy actuators , 2000, Smart Structures.

[17]  Peter H. Meckl,et al.  Enhanced Cooling of Shape Memory Alloy Wires Using Semiconductor "Heat Pump" Modules , 1994 .

[18]  K. Kuribayashi.  A New Actuator of a Joint Mechanism Using TiNi Alloy Wire , 1986 .

[19]  Yuichi Nakazato,et al.  Control of Push-Pull-Type Shape Memory Alloy Actuator by Fuzzy Reasoning. , 1993 .

[20]  M. Langlois,et al.  Society of Photo-Optical Instrumentation Engineers , 2005 .

[21]  Dominiek Reynaerts,et al.  Development of a high performance robotic actuator , 1991 .

[22]  Bernie F. Carpenter,et al.  Shape-memory actuated gimbal , 1995, Smart Structures.

[23]  F. Veldpaus,et al.  Application of computed phase transformation power to control shape memory alloy actuators , 1997 .

[24]  Vincent Hayward,et al.  Design of shape memory alloy actuator with high strain and variable structure control , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[25]  David W. L. Wang,et al.  General stability criteria for a shape memory alloy position control system , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[26]  Daniel J. Inman,et al.  Application of the extended kalman filter to control of a Shape Memory Alloy arm , 2003 .

[27]  Carrie A. Dickinson,et al.  Feedback Control Using Shape Memory Alloy Actuators , 1998 .

[28]  Dimitris C. Lagoudas,et al.  Adaptive Control of Shape Memory Alloy Actuators for Underwater Biomimetic Applications , 2000 .

[29]  Grigore C. Burdea,et al.  Investigation of a shape memory alloy actuator for dextrous force-feedback masters , 1994, Adv. Robotics.

[30]  Weiping Li,et al.  Applied Nonlinear Control , 1991 .

[31]  Kazuhiko Arai,et al.  Feedback linearization for SMA (shape memory alloy) , 1995, SICE '95. Proceedings of the 34th SICE Annual Conference. International Session Papers.