Fuzzy control for shape memory alloy tendon-actuated robotic structure

Shape memory alloy offers an interesting solution, using the shape transformation of the wire/structure in the moment of applying a thermal-type transformation able to offer the martensitic temperature. In order to assure an efficient control of SMA actuator applied to inverted pendulum, a mathematical model and numerical simulation of the resulting model are required. Due to a particular possibility of SMA actuator connection, a modified dynamics for wire or tendon actuation is presented. For an efficient study, a Simulink block set was developed (block for user configurable shape memory alloy material, configurable block for dynamics of single-link robotic structure, block for user configurable wire/tendon actuation). As conventional control possibilities were explored, the fuzzy control structure applied in this chapter. offers an improved response. A more compact SMA actuation is proposed and experimented. The results are commented.