Reference : Experimental validation of adaptive control for a Shape Memory Alloy actuated lightwe...
Scientific congresses, symposiums and conference proceedings : Paper published in a book
Engineering, computing & technology : Electrical & electronics engineering
http://hdl.handle.net/10993/38140
Experimental validation of adaptive control for a Shape Memory Alloy actuated lightweight robotic arm
English
Quintanar Guzman, Serket mailto [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > > ; University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit > ; Université de Lorraine > Automatic Control-Identification Diagnosis > UIT Longwy]
Kannan, Somasundar [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > >]
Voos, Holger [University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit > ; University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT)]
Darouach, Mohamed [Université de Lorraine > Automatic Control-Identification Diagnosis > UIT Longwy]
Alma, Marouane [Université de Lorraine > Automatic Control-Identification Diagnosis > UIT Longwy]
Sep-2018
ASME 2018 Conferences on Smart Materials, Adaptive Structures and Intelligent Systems, San Antonio 10-12 September 2018
Yes
International
ASME 2018 Conferences on Smart Materials, Adaptive Structures and Intelligent Systems (SMASIS2018)
from 10-09-2018 to 12-09-2018
San Antonio
TX
[en] SMA wire ; lightweight ; adaptive control
[en] This article presents the experimental validation of a Direct Adaptive Control for angular position regulation of a lightweight robotic arm. The robotic arm is single degree-of-freedom (DOF) system, actuated by two Shape Memory Alloy (SMA) wires. The proposed adaptive control is capable of adapting itself to the hysteretic behavior of SMA wires and update its behavior to deal
with the changing parameters of the material over time. The closed-loop approach is tested experimentally showing its effectiveness to deal with the highly nonlinear dynamics of the SMA
wires. These results are discussed and compared with a classical control approach. The updated design and hardware development and modeling of the robotic arm are shown.
Researchers ; Professionals ; Students ; General public
http://hdl.handle.net/10993/38140

File(s) associated to this reference

Fulltext file(s):

FileCommentaryVersionSizeAccess
Open access
SMASIS2018-8165_v2.pdfAuthor preprint5.38 MBView/Open

Bookmark and Share SFX Query

All documents in ORBilu are protected by a user license.