Abstract
This paper proposes a quasipassivity-based robust nonlinear control law ensuring position control of a rotary flap by means of an antagonist-type shape memory alloy microactuator. The control system employs variable-structure control to obtain robust performance, phase-lead compensation to quasipassivate the shape memory alloy dynamics and quasipassivity-based analysis to warrant robust ultimate boundedness of system trajectories. The feedback connection of the two paths leads to ultimate boundedness of tracking error trajectories of the plant despite uncertainties in the dynamic loads affecting the leading edge flap and in the friction found in the actuator. Since accurate numerical simulations and development of new concepts of microactuators based on shape memory alloys require a tractable, constitutive law accurately describing the relationship between force, displacement and temperature in the material, the paper also presents a hybrid micro-macro-mechanical shape memory alloy constitutive model. This model is based on a combination of structural modeling on a microscopic scale and transformation kinetics modeling on a macroscopic scale. The proposed control law and hybrid micro-macro-mechanical model are placed in closed-loop by means of numerical simulations that demonstrate the validity of the nonlinear control scheme.
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