Sliding mode-based control of thin Shape Memory Alloy actuators using a spatial hysteresis approximation

Efthymios Kolyvas, Yannis Koveos, Antonios Tzes

    Research output: Contribution to journalArticle

    Abstract

    Shape Memory Alloy (SMA) actuators rely their operation on a thermally driven phase change. The SMA's stroke position control problem thus involves the material temperature in a direct or indirect way. In thin SMA actuators, deviations between the actual and the estimation of the temperature profile can affect the performance of model-based control. In this work, an intermediary strategy, between a model-free and a model-based one, is proposed, where local approximations to the hysteretic trajectories are used in place of a complete hysteresis description. The localized trajectory is then spatially shifted to encapsulate the hysteretic behavior. A sliding mode based controller is constructed by this implementation exhibiting accurate tracking behavior. The advantages against existing model-free controllers are further investigated over a multi-rate control scheme. The results show that efficient tracking position control can be reached even at very low output feedback frequencies.

    Original languageEnglish (US)
    Pages (from-to)115-127
    Number of pages13
    JournalMechatronics
    Volume40
    DOIs
    StatePublished - Dec 1 2016

    Fingerprint

    Shape memory effect
    Hysteresis
    Actuators
    Position control
    Trajectories
    Controllers
    Feedback
    Temperature

    Keywords

    • Local approximation
    • Multi-rate loop
    • Shape memory alloy
    • Tracking control

    ASJC Scopus subject areas

    • Mechanical Engineering
    • Computer Science Applications
    • Electrical and Electronic Engineering

    Cite this

    Sliding mode-based control of thin Shape Memory Alloy actuators using a spatial hysteresis approximation. / Kolyvas, Efthymios; Koveos, Yannis; Tzes, Antonios.

    In: Mechatronics, Vol. 40, 01.12.2016, p. 115-127.

    Research output: Contribution to journalArticle

    Kolyvas, Efthymios ; Koveos, Yannis ; Tzes, Antonios. / Sliding mode-based control of thin Shape Memory Alloy actuators using a spatial hysteresis approximation. In: Mechatronics. 2016 ; Vol. 40. pp. 115-127.
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