A simple and direct nonlinear robust control algorithm

2008 ◽  
Author(s):  
Xin-ping Wang ◽  
Xian-ku Zhang ◽  
Wei Guan ◽  
Jun-sheng Ren
Keyword(s):  
Robust Control ◽  
Control Algorithm ◽  
Nonlinear Robust Control ◽  
Nonlinear Robust

Nonlinear Control of a Shape Memory Alloy Actuated Manipulator

2002 ◽  
Vol 124 (4) ◽  
pp. 566-575 ◽  
Author(s):  
Mohammad H. Elahinia ◽  
Hashem Ashrafiuon
Keyword(s):  
Robust Control ◽  
Shape Memory Alloy ◽  
Shape Memory ◽  
Control Algorithm ◽  
Weighted Average ◽  
Nonlinear Behavior ◽  
Variable Structure ◽  
Open Loop ◽  
Nonlinear Robust Control ◽  
Nonlinear Robust

This paper presents a nonlinear, robust control algorithm for accurate positioning of a single degree of freedom rotary manipulator actuated by Shape Memory Alloy (SMA). A model for an SMA actuated manipulator is presented. The model includes nonlinear dynamics of the manipulator, a constitutive model of Shape Memory Alloy, and electrical and heat transfer behavior of SMA wire. This model is used for open and closed loop motion simulations of the manipulator. Experiments are presented that show results similar to both closed and open loop simulation results. Due to modeling uncertainty and nonlinear behavior of the system, classic control methods such as Proportional-Integral-Derivative control are not able to present fast and accurate performance. Hence a nonlinear, robust control algorithm is presented based on Variable Structure Control. This algorithm is a control gain switching technique based on the weighted average of position and velocity feedbacks. This method has been designed through simulation and tested experimentally. Results show fast, accurate, and robust performance of the control system. Computer simulation and experimental results for different stabilization and tracking situations are also presented.

Adaptive Critic Nonlinear Robust Control: A Survey

2017 ◽  
Vol 47 (10) ◽  
pp. 3429-3451 ◽  
Author(s):  
Ding Wang ◽  
Haibo He ◽  
Derong Liu
Keyword(s):  
Robust Control ◽  
Adaptive Critic ◽  
Nonlinear Robust Control ◽  
Nonlinear Robust
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