Title :
Fuzzy Logic Controller for a Shape Memory Alloy Tentacle Robotic Structure
Author :
Bizdoaca, Nicu ; Hamdan, Hani ; Selisteanu, Dan
Author_Institution :
Dept. of Mechatronics, Craiova Univ.
Abstract :
This paper presents a fuzzy logic controller for a shape memory alloy (SMA) tentacle robotic structure. A tentacle manipulator is a manipulator with a great flexibility and a distributed mass and torque that can take any arbitrary shape. Technologically, such systems can be obtained by using a cellular structure for each element of the arm. In the first part of the paper, the mathematical model of single unit SMA actuator and conventional PI controller are presented. Secondly, a mathematical model for the proposed SMA tentacle module is described. In the final part, a fuzzy controller is developed and applied to the SMA tentacle structure. The fuzzy control strategy is based on the so-called direct sliding mode control (DSMC). A fuzzy controller is proposed and the fuzzy rules are established by using the DSMC procedures. Conventional control structures offer better performance in term of time response, but they don´t guarantee repeatability without ambient temperature control
Keywords :
PI control; controllers; fuzzy control; manipulators; shape memory effects; variable structure systems; PI controller; ambient temperature control; direct sliding mode control; fuzzy logic controller; shape memory alloy actuator; shaper memory alloy tentacle structure; tentacle manipulator; tentacle robotic structure; Fuzzy control; Fuzzy logic; Manipulators; Mathematical model; Robots; Shape control; Shape memory alloys; Sliding mode control; Temperature control; Torque;
Conference_Titel :
Information and Communication Technologies, 2006. ICTTA '06. 2nd
Conference_Location :
Damascus
Print_ISBN :
0-7803-9521-2
DOI :
10.1109/ICTTA.2006.1684639