0

Full Content is available to subscribers

Subscribe/Learn More  >

Backstepping Control of an SMA-Actuated Manipulator

[+] Author Affiliations
Mohammad H. Elahinia

University of Toledo

Jeong-Hoi Koo, Craig Woolsey, Mehdi Ahmadian

Virginia Polytechnic Institute and State University

Paper No. IMECE2004-60009, pp. 45-54; 10 pages
doi:10.1115/IMECE2004-60009
From:
  • ASME 2004 International Mechanical Engineering Congress and Exposition
  • Dynamic Systems and Control, Parts A and B
  • Anaheim, California, USA, November 13 – 19, 2004
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 0-7918-4706-3 | eISBN: 0-7918-4178-2, 0-7918-4179-0, 0-7918-4180-4
  • Copyright © 2004 by ASME

abstract

In this paper a nonlinear model-based controller is designed to globally asymptotically stabilize a single-degree-of-freedom shape memory alloy (SMA) actuated manipulator. A three part model was constructed based on the dynamics/kinematics of the arm, the thermomechanical behavior of SMA’s, and an assumed heat transfer model consisting of electrical heating and natural convection. The backstepping control is used to calculate the applied voltage to the SMA wire. Initially, the SMA’s wire stress is assumed to be the control input of the system. The stress is then chosen to asymptotically stabilize the desired position. The applied voltage to the SMA wire is the actual control input. This voltage is calculated based on the desired stress and the SMA’s thermomechanical and heat transfer models. It is shown that the calculated voltage can globally asymptotically stabilize the system. Numerical simulations are performed to investigate stabilizing performance as well as other issues such as robustness. The results demonstrate that the backstepping controller designs is highly accurate in stabilization.

Copyright © 2004 by ASME
Topics: Manipulators

Figures

Tables

Interactive Graphics

Video

Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

NOTE:
Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In