Báo Cáo Predictive control for shape memory alloy actuators

ABSTRACT
​

Shape Memory Alloy (SMA) actuators which have ability to return to a predetermined shape
when heated have many potential applications in aeronautics, surgical tools, robotics, and so on.
Although the number of applications is increasing, there has been limited success in precise motion
control of these smart actuators. This paper presents a new development of SMA position control
system by using Generalized Predictive Control (GPC) algorithm. The use of GPC controller is to
generate a control sequence by minimizing a cost function in such a way that the future system output
is driven close to reference over finite prediction horizon. The experimental results from real time
control using GPC method compared with conventional PID controller are also shown in this paper.

Key Words: SMA, actuators, GPC, identification, real time.