International Journal of Control, Automation, and Systems

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Position Control of Shape Memory Alloy Actuators Using Self Tuning Fuzzy PID Controller

  • Ahn Kyoung-Kwan (School of Mechanical and Automative Engineering, University of Ulsan) ;
  • Nguyen Bao Kha (Automatic Control Department, Falculty of Electrical and Electronic Engineering, Hochiminh City University of Technology)
  • Published : 2006.12.30
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Abstract

Shape Memory Alloy(SMA) actuators, which have the ability to return to a predetermined shape when heated, have many potential applications such as aeronautics, surgical tools, robotics and so on. Although the conventional PID controller can be used with slow response systems, there has been limited success in precise motion control of SMA actuators, since the systems are disturbed by unknown factors beside their inherent nonlinear hysteresis and changes in the surrounding environment of the systems. This paper presents a new development of a SMA position control system by using a self-tuning fuzzy PID controller. This control algorithm is used by tuning the parameters of the PID controller thereby integrating fuzzy inference and producing a fuzzy adaptive PID controller, which can then be used to improve the control performance of nonlinear systems. The experimental results of position control of SMA actuators using conventional and self-tuning fuzzy PID controllers are both included in this paper.

Keywords

References

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