| Mechanical Engineering and Materials Science |
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| Recent advances in nonlinear control technologies for shape memory alloy actuators |
| SREEKUMAR M., SINGAPERUMAL M., NAGARAJAN T., ZOPPI M., MOLFINO R. |
| Precision Engineering and Instrumentation Laboratory, Department of Mechanical Engineering, Indian Institute of Technology Madras, Chennai 600 036, India; Laboratory of Design and Measurement for Automation and Robotics, Department of Mechanics and Machines Design, University of Genova, Via all’Opera Pia 15 a-16145 Genova, Italy |
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Abstract This paper reviews recent developments in nonlinear control technologies for shape memory alloy (SMA) actuators in robotics and their related applications. SMA possesses large hysteresis, low bandwidth, slow response, and non-linear behavior, which make them difficult to control. The fast response of the SMA actuator mostly depends upon, (1) type of controller, (2) rate of addition and removal of heat, and (3) shape or form of the actuator. Though linear controllers are more desirable than nonlinear ones, the review of literature shows that the results obtained using nonlinear controllers were far better than the former one. Therefore, more emphasis is made on the nonlinear control technologies taking into account the intelligent controllers. Various forms of SMA actuator along with different heating and cooling methods are presented in this review, followed by the nonlinear control methods and the control problems encountered by the researchers.
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Received: 24 October 2006
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