Reference : Adaptive control for a lightweight robotic arm actuated by a Shape Memory Allow wire
Scientific congresses, symposiums and conference proceedings : Paper published in a book
Engineering, computing & technology : Electrical & electronics engineering
http://hdl.handle.net/10993/38143
Adaptive control for a lightweight robotic arm actuated by a Shape Memory Allow wire
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]
Jun-2018
16th International Conference on New Actuators, Bremen 25-27 June 2018
Yes
16th International Conference on New Actuators (ACTUATOR 2018)
from 25-06-2018 to 27-06-2018
Bremen
Germany
[en] SMA wire ; lightweight ; adaptive control
[en] 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.
Researchers ; Professionals ; Students ; General public
http://hdl.handle.net/10993/38143

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