Enhanced Adaptive Controller using Combined MRAC and STC Adaptive Control Approaches for the Control of Shape Memory Alloy Wire
نویسنده
چکیده
The paper introduces a contribution in the design of adaptive controllers. A PID adaptive controller derived using the mathematical formulas of model reference adaptive control (MRAC) combined with the self tuning adaptive control (STC). The controller tested in the position control of shape memory alloy (SMA) wire and enhanced by experiment to an Enhanced adaptive controller which is more robust and consistent than other classical adaptive controllers derived based on mathematical means. This controller is used to tune the parameters of a PI controller that could control the position of an SMA wire actuator. The performance of both the enhanced adaptive controller and the PI controller are compared under different sets of excitation frequencies of input current to the SMA wire showing robust control and low percentages of error rates.
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