A5093582860- Iterative Learning Control Systems
- Shape Memory Alloy Transformations
- Vehicle Dynamics and Control Systems
- Electric and Hybrid Vehicle Technologies
- Advanced Control Systems Optimization
- Piezoelectric Actuators and Control
- Control and Dynamics of Mobile Robots
- Adaptive Control of Nonlinear Systems
- Soft Robotics and Applications
- Hydraulic and Pneumatic Systems
Sahand University of Technology
2023-2024
Abstract This study focuses on the precise model estimation for a position control problem actuated by shape memory alloy (SMA) wire. Because hysteresis characteristic of SMA introduces complexities in system modelling and adds degrees freedom, with reduced order is implemented controller design. online updated calculating complementary term from measured data to compensate actuator dynamics other parametric uncertainties. The controller, derived formulated reduced‐order model, adapts itself...
The present research practically controls the position of a robotic arm considering uncertainties in its model, together with external perturbations. An input-output linearization control is formulated based on an exact dynamic incorporating extended state observer (ESO) to estimate By measuring angular displacement, perturbations-related term ESO algorithm considered as new variable added system equations. Through estimation using ESO, accurate model established design feedback control,...
This paper implements a robust control strategy for robotic arm actuated with shape memory alloy (SMA). The complexity of mathematical models SMA, arising from the hysteresis behavior, adds to designing suitable model-based controller. For this reason, second-order model is utilized design position reduced-order contains uncertainties disparity actual system. Consequently, super-twisting sliding mode (ST-SMC) implemented due its capability in handling uncertainty, reducing chattering...