Position Control of an SMA Actuator Using Sliding Mode Control with Time Delay Estimation

• 영문명: Position Control of an SMA Actuator Using Sliding Mode Control with Time Delay Estimation
• 발행기관: 한국과학기술원 인간친화 복지 로봇 시스템 연구센터
• 저자명: Hyo Jik Lee Jung Ju Lee Dong Soo Kwon
• 간행물 정보: 『International Journal of Assistive Robotics and Mechatronics』International Journal of Human-friendly Welfare Robotic Systems Vol.4 No.2, 51~56쪽, 전체 6쪽
• 주제분류: 공학 > 제어계측공학
• 파일형태: PDF
• 발행일자: 2003.06.01

영문 초록

  Shape Memory Alloy (SMA) actuators possess hard nonlinearities including backlash-like hysteresis and saturation. These nonlinearities result in steady-state error and limit-cycle problem when conventional controllers such as proportional integral derivative (PID) are used for trajectory control. In this study, sliding mode control with time delay estimation (SMCTE) is proposed and applied to an SMA actuator. SMCTE can help convenient estimation of plant model dynamics through time delay estimation, which is the main concept of time delay control technique. Experiments of SMCTE were carried out with and without a boundary layer, and the performances were compared against other controllers.

목차

Abstract
Ⅰ. INTRODUCTION
Ⅱ. DYNAMICS AN SMA ACTUATOR
Ⅲ. SMCTE
Ⅳ. EXPERIMENTS
Ⅴ. SUMMARY
ACKNOWLEDGEMENTS
REFERENCES

키워드

Index terms-Shape memory alloy(SMA) SMA actuator time delay control(TDC) sliding mode control(SMC) sliding mode control with time delay estimation(SMCTE)