DocumentCode :
3013993
Title :
The study of tracking control of a robotic manipulator actuated by shape memory alloy
Author :
Rahman, S. M Mahfuzur ; Ahn, Kyoung Kwan
Author_Institution :
Dept. of Mech. Eng., CUET, Chittagong
fYear :
2008
fDate :
24-27 Dec. 2008
Firstpage :
282
Lastpage :
287
Abstract :
Shape memory alloy (SMA) composites offer a great potential as actuators because of its excellent power to weight ratio, smooth motion and silent actuation. However, SMA actuated robotic manipulator systems have severe hysteresis, system nonlinearities, model and parametric uncertainties those are often responsible for position inaccuracy in a regulation or tracking system. A simple and upstanding control algorithm for tracking control of a SMA actuated robotic manipulator system is presented in this paper. The controller is developed based on the combination of a variable structure control approach and a heuristic based intelligent control approach like fuzzy logic control (FLC), so that the resulting control algorithms have a superior performance both in stabilization and tracking the desired trajectories. A desktop prototype of the robotic manipulator system is recalled from our previous work. A nonlinear form of proportional-integral-derivative (PID) controller is also employed to the system for comparison of performance. Several experiments have been performed in tracking both stationary and periodically varied input signals. Experimental results from real time control verify the effective and robust performance of the controller.
Keywords :
control nonlinearities; control system synthesis; fuzzy control; hysteresis; intelligent actuators; intelligent robots; manipulators; position control; shape memory effects; stability; three-term control; tracking; uncertain systems; variable structure systems; PID controller; SMA actuated robotic manipulator system; controller design; fuzzy logic control; heuristic-based intelligent control approach; parametric uncertainty; position control; proportional-integral-derivative controller; shape memory alloy composites; system hysteresis; system nonlinearity; system stabilization; tracking control system; variable structure control approach; Actuators; Control systems; Hysteresis; Intelligent control; Manipulators; Power system modeling; Robot control; Shape control; Shape memory alloys; Uncertainty; Fuzzy Logic; Manipulator; Position contro; SMA actuator; Sliding Mode control;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Computer and Information Technology, 2008. ICCIT 2008. 11th International Conference on
Conference_Location :
Khulna
Print_ISBN :
978-1-4244-2135-0
Electronic_ISBN :
978-1-4244-2136-7
Type :
conf
DOI :
10.1109/ICCITECHN.2008.4803080
Filename :
4803080
Link To Document :
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