a sliding mode torque and position controller for an antagonistic sma actuator：一种用于对抗形状记忆合金的滑动模态转矩和位置控制器.pdfVIP

Mechatronics xxx (2015) xxx–xxx Contents lists available at ScienceDirect Mechatronics journal homepage: /locate/mechatronics A sliding mode torque and position controller for an antagonistic SMA actuator André Ianagui, Eduardo Aoun Tannuri ⇑ Escola Politécnica da Universidade de São Paulo, Departamento de Mecatrônica e Sistemas Mecânicos, Av. Prof. Luciano Gualberto, travessa 3, no 380, CEP 05508-010 São Paulo, SP, Brazil a r t i c l e i n f o a b s t r a c t Article history: This paper presents position and torque control of an antagonistic setup for a shape memory alloy (SMA) Received 11 March 2014 rotary actuator using a sliding mode controller that takes into account the nonlinear behavior of SMA. The Accepted 21 June 2015 control scheme and model are based on the complete physics model of the system. An accurate model of Available online xxxx the actuator is presented and validated by means of an experimental prototype. A nonlinear state observer is also developed in order to estimate temperature and phase state variables that are difficult Keywords: to measure online due to the small dimensions of the actuator. Experimental results are then presented Shape memory alloy for different set-point functions. Tracking performance, frequency response and disturbance rejection are Nonlinear control