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Adaptive control for a lightweight robotic arm actuated by a Shape Memory Allow wire
Quintanar Guzman, Serket; Kannan, Somasundar; Voos, Holger et al.
2018In 16th International Conference on New Actuators, Bremen 25-27 June 2018
Peer reviewed
 

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Keywords :
SMA wire; lightweight; adaptive control
Abstract :
[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.
Disciplines :
Electrical & electronics engineering
Author, co-author :
Quintanar Guzman, Serket ;  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
External co-authors :
yes
Language :
English
Title :
Adaptive control for a lightweight robotic arm actuated by a Shape Memory Allow wire
Publication date :
June 2018
Event name :
16th International Conference on New Actuators (ACTUATOR 2018)
Event place :
Bremen, Germany
Event date :
from 25-06-2018 to 27-06-2018
Main work title :
16th International Conference on New Actuators, Bremen 25-27 June 2018
Peer reviewed :
Peer reviewed
Available on ORBilu :
since 09 January 2019

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