Double-Sided SMA Actuator for Operator-Based Nonlinear Vibration Control of a Flexible Arm

Abstract

This paper proposes the double-sided Shape Memory Alloy (SMA) actuator for a flexible arm’s nonlinear vibration control scheme. Considering the uncertainties and hysteresis nonlinearity of the SMA actuator, the vibration dynamics of a flexible arm are modeled based on the Euler-Bernoulli beam theory, the SMA actuator model is described by thermal model and Prandtl-Ishlinskii (PI) hysteresis model. Firstly, nonlinear vibration control is designed based on operator theory to guarantee the robust stability of the flexible arm. Secondly, an integral compensator based on estimation mechanism is proposed to optimally reduce the flexible arm’s the tracking error. Further the desired tracking performance of the flexible arm is obtained by increasing the number of n-times feedback loop. In the case study, the numerical simulations show that the vibration displacement of the flexible arm is almost zero within less time and lower input power by compared the proposed vibration control approach with a traditional controller. The effectiveness of the double-sided SMA actuator vibration control is demonstrated by compared it to a single-sided SMA actuator.