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Proceedings Paper

Nonlinear motion and force control of shape memory alloy actuators
Author(s): H. Benzaoui; Nicolas Chaillet; Christian Lexcellent; Alain Bourjault
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Paper Abstract

Among the numerous studies published in the field of shape memory alloys (SMA), an important part is devoted to the thermomechanical properties of these materials. Few studies have been done in order to develop control laws of SMA actuators for temperature, position and force control with guaranteed stability and performances. The reason is that these materials have a highly nonlinear dynamic behavior (including hysteresis) because of the physical principle of motions which is a solid-solid phase transition (between an austenitic and a martensitic phase). It is then difficult to guaranty stable control and to predict the dynamic behavior in closed-loop (trajectory and effort). For this purpose, this paper is focused on control of such actuators. To obtain a control law for the closed-loop motion or force control, we use a nonlinear dynamic model performed in a previous work. With this dynamic model, we use nonlinear control techniques based on the Lie algebra to obtain the control laws for the position or the force closed-loop. Experimentation show that the proposed method is very useful for the control of SMA actuators.

Paper Details

Date Published: 4 June 1999
PDF: 12 pages
Proc. SPIE 3667, Smart Structures and Materials 1999: Mathematics and Control in Smart Structures, (4 June 1999); doi: 10.1117/12.350125
Show Author Affiliations
H. Benzaoui, Lab. d' Automatique de Besancon and Lab. de Mecanique Appliquee R. Chaleat (France)
Nicolas Chaillet, Lab. d' Automatique de Besancon (France)
Christian Lexcellent, Lab. de Mecanique Appliquee R. Chaleat (France)
Alain Bourjault, Lab. d' Automatique de Besancon (France)


Published in SPIE Proceedings Vol. 3667:
Smart Structures and Materials 1999: Mathematics and Control in Smart Structures
Vasundara V. Varadan, Editor(s)

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