Nonlinear motion and force control of shape memory alloy actuators

H. Benzaoui; Nicolas Chaillet; Christian Lexcellent; Alain Bourjault

doi:10.1117/12.350125

4 June 1999 Nonlinear motion and force control of shape memory alloy actuators

H. Benzaoui, Nicolas Chaillet, Christian Lexcellent, Alain Bourjault

Proceedings Volume 3667, Smart Structures and Materials 1999: Mathematics and Control in Smart Structures; (1999) https://doi.org/10.1117/12.350125
Event: 1999 Symposium on Smart Structures and Materials, 1999, Newport Beach, CA, United States

Abstract

Among the numerous studies published in the field of shape memory alloys (SMA), an important part is devoted to the thermomechanical properties of these materials. Few studies have been done in order to develop control laws of SMA actuators for temperature, position and force control with guaranteed stability and performances. The reason is that these materials have a highly nonlinear dynamic behavior (including hysteresis) because of the physical principle of motions which is a solid-solid phase transition (between an austenitic and a martensitic phase). It is then difficult to guaranty stable control and to predict the dynamic behavior in closed-loop (trajectory and effort). For this purpose, this paper is focused on control of such actuators. To obtain a control law for the closed-loop motion or force control, we use a nonlinear dynamic model performed in a previous work. With this dynamic model, we use nonlinear control techniques based on the Lie algebra to obtain the control laws for the position or the force closed-loop. Experimentation show that the proposed method is very useful for the control of SMA actuators.

Citation Download Citation

H. Benzaoui, Nicolas Chaillet, Christian Lexcellent, and Alain Bourjault "Nonlinear motion and force control of shape memory alloy actuators", Proc. SPIE 3667, Smart Structures and Materials 1999: Mathematics and Control in Smart Structures, (4 June 1999); https://doi.org/10.1117/12.350125

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