ANFIS-Based System Identification and Control of a Compliant Shape Memory Alloy (SMA) Rotating Actuator

In this paper, we present Adaptive Neuro-Fuzzy Inference System (ANFIS)-based modelling and control of a compliant rotary actuator using Shape Memory Alloy (SMA) material. The SMA material has flexible behavior that can be suitable for compliant applications specially bio-inspired and soft robotics. The driving circuit used in this system is designed and implemented to be embedded in the same actuator. This embedded driving circuit provides compactness advantage for our proposed actuator to be effectively used in further applications with higher Degrees Of Freedom (DOF). The model of the SMA rotating actuator is obtained by system identification using ANFIS algorithm based on real experimental data. Closed-loop feedback control system is designed in the simulation based on the obtained ANFIS model. PID controller is ultimately implemented in the real system. The system response could attain a rise time of 0. 5sec and an overshoot of 8%. The controller could achieve satisfying tracking and disturbance rejection.

[1]  Nikolaos G. Tsagarakis,et al.  A compact compliant actuator (CompAct™) with variable physical damping , 2011, 2011 IEEE International Conference on Robotics and Automation.

[2]  R. Ham,et al.  Compliant actuator designs , 2009, IEEE Robotics & Automation Magazine.

[3]  S.K. Au,et al.  Powered Ankle-Foot Prosthesis for the Improvement of Amputee Ambulation , 2007, 2007 29th Annual International Conference of the IEEE Engineering in Medicine and Biology Society.

[4]  Bong-Jo Ryu,et al.  A modular torsional actuator using shape memory alloy wires , 2016 .

[5]  Blake Hannaford,et al.  Measurement and modeling of McKibben pneumatic artificial muscles , 1996, IEEE Trans. Robotics Autom..

[6]  Nitish V. Thakor,et al.  A novel compact compliant actuator design for rehabilitation robots , 2013, 2013 IEEE 13th International Conference on Rehabilitation Robotics (ICORR).

[7]  N. A. Mansour,et al.  Bidirectional rotating actuators using shape memory alloy wires , 2019, Sensors and Actuators A: Physical.

[8]  G.A. Pratt,et al.  Series elastic actuator development for a biomimetic walking robot , 1999, 1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (Cat. No.99TH8399).

[9]  Joel E. Chestnutt,et al.  The Actuator With Mechanically Adjustable Series Compliance , 2010, IEEE Transactions on Robotics.

[10]  Matthew M. Williamson,et al.  Series elastic actuators , 1995, Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots.

[11]  Yusuke Sugahara,et al.  Development of a Novel SMA-Driven Compliant Rotary Actuator Based on a Double Helical Structure , 2019, Robotics.

[12]  Bram Vanderborght,et al.  The Pneumatic Biped “Lucy” Actuated with Pleated Pneumatic Artificial Muscles , 2005, Auton. Robots.