Adaptive Control for a Lightweight Robotic Arm Actuated by a Shape Memory Alloy Wire
Konferenz: ACTUATOR 2018 - 16th International Conference on New Actuators
25.06.2018 - 27.06.2018 in Bremen, Deutschland
Tagungsband: ACTUATOR 2018
Seiten: 6Sprache: EnglischTyp: PDFPersönliche VDE-Mitglieder erhalten auf diesen Artikel 10% Rabatt
Quintanar-Guzman, S.; Kannan, S.; Voos, H. (University of Luxembourg, Luxembourg)
Darouach, M.; Alma, M. (Université de Lorraine, Longwy, France)
This paper presents the design, model and closed-loop control of a single degree-of-freedom (DOF) lightweight robotic arm actuated by a biased Shape Memory Alloy (SMA) wire. The highly non-linear dynamics of SMAs represent a challenge for control tasks, due to phenomena as hysteresis or parameters uncertainty. With this in mind, we propose a control capable to adapt itself to the hysteretic behavior and update its behavior to deal with the changing parameters of the material over time. An adaptive control for position regulation is presented. This control includes a set of techniques, providing a systematic way to adjust the control parameters in real time, so maintaining the stability of the system and a desired performance, while dealing with parameter and model uncertainties. The closed-loop approach is tested in experimentally showing its effectiveness to deal with the highly non-linear dynamics of the SMA wire.