Abstract—Shape memory alloy (SMA) actuators provide unique features for motion control applications due to their compact design and high force to weight ratio. Integration of SMA actuators in motion control applications has not been widely employed due to their nonlinear behaviors and control difficulties. In this paper, the concept of model-based control of SMA actuators is introduced. Time variable parameter (TVP) model is used to describe the actuator dynamics. Gain scheduled Proportional-Integral (PI) controller with time variable gains has been developed based on pole placement technique. Experimental evaluation of gains schedule PI controller for SMA actuators shows stable and robust response that could compensate for the nonlinear phenomenon of these actuators.
Index Terms—Shape memory alloy actuators, nonlinear actuators, gains schedule controllers, tvp model.
The authors are with Mechanical Engineering Department, Helwan University (email: masterhelwan@yahoo.com, bassiuny@yahoo.com, mokhtarbakr@yahoo.com).
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Cite:Mohamed Alsayed Ahmed , Abdel Halim Bassiuny, and Elsayed Mokhtar Bakr, "Design and Implementation of Gains Scheduled PI Control System for Shape Memory Alloy Actuator," International Journal of Modeling and Optimization vol. 3, no. 2, pp. 120-124, 2013.
