Construction, modeling, and control of a three‐beam prototype using interactive fiber rubber composites

Abstract

AbstractIn this contribution, we discuss the construction, modeling, and control of a three‐beam prototype that utilizes interactive fiber rubber composites integrated with shape memory alloys (SMAs) as actuators. These actuators are integrated into a textile layer and covered with an elastomer layer, providing flexibility and protection to the prototype. A mathematical model was developed to describe the behavior of the prototype, employing system identification techniques. However, precise position control of systems actuated by SMAs is challenging due to their inherent nonlinearities and hysteretic behavior. To tackle this challenge, a proportional‐integral (PI) controller was designed based on robust stability conditions. The effectiveness of the designed PI controller was validated through both numerical simulations and real experiments.