Abstract
In recent years tendon control systems for large flexible structures have been investigated, and in most of researches on vibration control with tendon mechanism, electric motors are used as actuators. In this paper, shape memory alloys (SMAs) formed like wires are used as tendons. Because SMA tendons are considered as actuators which shrink with heat produced by applied current, space saved tendon control systems can be realized without lubrication. An actuator unit which consists of an SMA tendon and a spring is set up, and transfer functions of the actuator unit relating an applied voltage to a generated force are measured. Characteristics of the actuator unit are determined experimentally by curve fitting technique for measured transfer functions. H-inf controllers considering uncertainty of the actuator unit performance are designed and installed in the vibration control system for a flexible cantilever with SMA tendons. It is validated that free and forced vibrations of the flexible cantilever can be well restrained by the designed controller with robust stability.
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