Modeling and control of shape memory alloy actuator using feedback linearization

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	Modeling and control of shape memory alloy actuator using feedback linearization
	Zhang DH(张道辉); Li XG(李晓光); Han JD(韩建达); Zhao XG(赵新刚)
	2017
会议名称	36th Chinese Control Conference, CCC 2017
会议日期	July 26-28, 2017
会议地点	Dalian, China
关键词	SMA FBL Modeling
页码	1222-1227
通讯作者	Li XG(李晓光)
中文摘要	The paper presents the modeling and linear control of shape memory alloy (SMA) actuator. A complete system mathematical model of SMA actuator is constructed, all uncertain parameters are evaluated through nonlinear least squares method from Matlab parameter estimation tool. The feedback linearization (FBL) theory is applied, The SMA actuator system is transformed from nonlinear system to linear system so that all mature linear control theory can be used. In this paper, a simple gain matrix is utilized to establish Hurwitz, achieves the output position tracking, and ensures the system stability. Two control schemes, FBL and PID, are compared in dynamic response and response error.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议主办者	Dalian University of Technology; Systems Engineering Society of China (SESC); Technical Committee on Control Theory (TCCT), Chinese Association of Automation (CAA)
会议录	Proceedings of the 36th Chinese Control Conference, CCC 2017
会议录出版者	IEEE Computer Society
会议录出版地	Piscataway, NJ, USA
语种	英语
ISSN号	1934-1768
ISBN号	978-1-5386-2918-5
WOS记录号	WOS:000432014401171
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/21079]
专题	沈阳自动化研究所_机器人学研究室
作者单位	1.Shenyang University of Technology, Shenyang, 110870, China 2.University of Chinese Academy of Sciences, Beijing, 100049, China 3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
推荐引用方式 GB/T 7714	Zhang DH,Li XG,Han JD,et al. Modeling and control of shape memory alloy actuator using feedback linearization[C]. 见:36th Chinese Control Conference, CCC 2017. Dalian, China. July 26-28, 2017.