B-spline Based Adaptive Control of Shape Memory Alloy Actuated Robotic Systems
نویسندگان
چکیده
In this paper we present a novel controller for Shape Memory Alloy (SMA) actuated robotic systems. The new controller, called BAC (B-spline based Adaptive Control), is based on a hybrid combination of gain scheduling, Bspline approximation, variable structure control and integral control. The proposed controller shows excellent positioning accuracy and speed throughout the full range of motion of a SMA actuated robotic system in largescale applications. To demonstrate the validity of BAC, a novel anthropomorphic SMA Actuated forearm / wrist mechanism is utilized in real-time PC based control experiments. BAC is experimentally compared to PID and integral variable structure controllers and it is shown that its performance is superior.
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