Adaptive Dual-Layer Sliding Mode Control for Ball on Plate System Driven by Shape Memory Alloy Wire

This paper describes a dual-layer adaptive sliding mode control for a ball-on-plate system propelled by shape memory alloy (SMA) wire actuators. Conventionally, hydraulic, pneumatic, and electric actuators are used to power ball-balancing systems. However, they are heavy and bulky and take up more space. SMA actuators offer a solution to these drawbacks due to their unique actuating properties. Naturally, two-dimensional ball-balancing systems exhibit nonlinearity, which is further intensified when integrated with an SMA actuator. Moreover, these systems are sensitive to external disturbances, and controlling such systems with uncertainty using conventional control strategies is difficult. These concerns motivated the design of the dual-layer sliding mode controller (SMC) for the SMA driven ball on plate system to mitigate the causes of nonlinearities. The design is then validated by experimentation using Simulink/MATLAB™. © The Institution of Engineers (India) 2024.