Abstract

The paper presents the modeling and linear control of shape memory alloy (SMA) actuator. A complete system mathematical model of SMA actuator is constructed, all uncertain parameters are evaluated through nonlinear least squares method from Matlab parameter estimation tool. The feedback linearization (FBL) theory is applied, The SMA actuator system is transformed from nonlinear system to linear system so that all mature linear control theory can be used. In this paper, a simple gain matrix is utilized to establish Hurwitz, achieves the output position tracking, and ensures the system stability. Two control schemes, FBL and PID, are compared in dynamic response and response error.

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