Adaptive backstepping sliding mode controller for a shape memory alloy actuator

被引：1
|
作者：
Li X.-G. [1 ,2 ,3 ,4 ]
Zhang B. [1 ,2 ]
Zhao X.-G. [1 ,2 ]
Zhang D.-H. [1 ,2 ]
机构：
[1] State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, Liaoning
[2] Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 110016, Liaoning
[3] University of Chinese Academy of Sciences, Beijing
[4] School of Chemical Equipment, Shenyang University of Technology, Shenyang, 110870, Liaoning
来源：
Zhao, Xin-Gang (zhaoxingang@sia.cn) | 1600年 / South China University of Technology卷 / 37期
基金：
中国国家自然科学基金;
关键词：
Adaptive backstepping sliding mode control; Parameter identification; Shape memory alloy; System modeling;
D O I：
10.7641/CTA.2019.80980
中图分类号：
学科分类号：
摘要：
Shape memory alloy (SMA) is a new type of intelligent material, which has been applied in plenty of fields. Compared with the traditional actuators, it has some prominent merits, such as high power-to-mass ratio, low driving voltage, light weight, clean and quiet operation. However, the nonlinearity, hysteresis and time-varying characteristics have seriously affected the control performance and limited its application. To this end, this paper presents an adaptive backstepping sliding mode control method, and considers the precise control problem of SMA actuators. Firstly, the experimental setup has been established and the physical model of a SMA actuator system has been built up. Next the model parameters have been identified by utilizing the nonlinear least-squares algorithm. Then the adaptive backstepping sliding mode controller has been designed based on the obtained mechanism model. Finally, the experimental results demonstrate that the proposed controller ensures fast dynamic response speed, low steady-state tracking error and reliable disturbance rejection ability. © 2020, Editorial Department of Control Theory & Applications South China University of Technology. All right reserved.
引用
收藏
页码：137 / 146
页数：9
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