Adaptive control for shape memory alloy actuated systems with applications to human-robot interaction.

ABSTRACT:

Introduction

Shape memory alloy (SMA) actuators are attractive options for robotic applications due to their salient features. So far, achieving precise control of SMA actuators and applying them to human-robot interaction scenarios remains a challenge.

Methods

This paper proposes a novel approach to deal with the control problem of a SMA actuator. Departing from conventional mechanism models, we attempt to describe this nonlinear plant using a gray-box model, in which only the input current and the output displacement are measured. The control scheme consists of the model parameters updating and the control law calculation. The adaptation algorithm is founded on the multi-innovation concept and incorporates a dead-zone weighted factor, aiming to concurrently reduce computat

SUBMITTER: Shi E 

PROVIDER: S-EPMC10864648 | biostudies-literature | 2024

REPOSITORIES: biostudies-literature