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Journal of Zhejiang University SCIENCE A 2007 Vol.8 No.5 P.818-829

http://doi.org/10.1631/jzus.2007.A0818


Recent advances in nonlinear control technologies for shape memory alloy actuators


Author(s):  SREEKUMAR M., SINGAPERUMAL M., NAGARAJAN T., ZOPPI M., MOLFINO R.

Affiliation(s):  Precision Engineering and Instrumentation Laboratory, Department of Mechanical Engineering, Indian Institute of Technology Madras, Chennai 600 036, India; more

Corresponding email(s):   skumar@dimec.unige.it, msingam@iitm.ac.in

Key Words:  Shape memory alloy (SMA) actuators, Nonlinear control, Micro robots, Hysteresis, Position control, Robotic manipulators


SREEKUMAR M., SINGAPERUMAL M., NAGARAJAN T., ZOPPI M., MOLFINO R.. Recent advances in nonlinear control technologies for shape memory alloy actuators[J]. Journal of Zhejiang University Science A, 2007, 8(5): 818-829.

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doi="10.1631/jzus.2007.A0818"
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%A MOLFINO R.
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A1 - SREEKUMAR M.
A1 - SINGAPERUMAL M.
A1 - NAGARAJAN T.
A1 - ZOPPI M.
A1 - MOLFINO R.
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PB - Zhejiang University Press & Springer
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DOI - 10.1631/jzus.2007.A0818


Abstract: 
This paper reviews recent developments in nonlinear control technologies for shape memory alloy (SMA) actuators in robotics and their related applications. SMA possesses large hysteresis, low bandwidth, slow response, and non-linear behavior, which make them difficult to control. The fast response of the SMA actuator mostly depends upon, (1) type of controller, (2) rate of addition and removal of heat, and (3) shape or form of the actuator. Though linear controllers are more desirable than nonlinear ones, the review of literature shows that the results obtained using nonlinear controllers were far better than the former one. Therefore, more emphasis is made on the nonlinear control technologies taking into account the intelligent controllers. Various forms of SMA actuator along with different heating and cooling methods are presented in this review, followed by the nonlinear control methods and the control problems encountered by the researchers.

Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article

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