Abstract
For robot joints actuated by Shape Memory Alloy (SMA), the traditional control methods need to establish a complex mechanism model of the plant and need to re-model when replacing the controlled plant. A novel and improved method based on Data-Driven Control (DDC) is proposed to control the robot joint driven by SMA. The proposed method is a pure online data-driven control method since the controller is independent of the model of the controlled plant, and the idea of speed tracking is introduced into the control criterion function of the DDC prototype. The stability of the proposed method is guaranteed by rigorous theoretical analysis, and the effectiveness is evaluated on simulation examples and SMA-driven wrist control experiments. The result of experiments shows that, compared with traditional DDC, the proposed method has a lower steady-state system error and faster system response speed.
Published Version
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
