Sliding Mode Control of a SMA Actuator Based on Unscented Kalman Filter
文献类型：会议论文
| 作者 | Zhang DH(张道辉) ; Li XG(李晓光); Zhao XG(赵新刚); Zhang B(张弼)
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| 出版日期 | 2018 |
| 会议日期 | December 12-15, 2018 |
| 会议地点 | Kuala Lumpur, Malaysia |
| 页码 | 1431-1436 |
| 英文摘要 | This brief describes the mathematical model for shape memory alloy (SMA) actuator based on the physics of the process and presents a model-based sliding mode control (SMC) law. It is noted that only the contraction displacement can be obtained by the encoder. Whereas the unmeasured states can be estimated using an unscented Kalman filter (UKF) algorithm based on the nonlinear mechanism model. The comparisons between SMC incorporated with an UKF and SMC show that the tracking results of the proposed method is better than the previous one. Meanwhile, the load disturbance rejection result verifies the proposed controller has the ability to compensate the disturbance and ensure the robust stability property. |
| 产权排序 | 1 |
| 会议录 | Proceedings of the 2018 IEEE International Conference on Robotics and Biomimetics
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| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-7281-0376-1 |
| WOS记录号 | WOS:000468772200226 |
| 源URL | [http://ir.sia.cn/handle/173321/24654]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 通讯作者 | Li XG(李晓光) |
| 作者单位 | CAS, State Key Laboratory of Robotics, Shenyang Institute of Automation, Shenyang 110016, China |
| 推荐引用方式 GB/T 7714 | Zhang DH,Li XG,Zhao XG,et al. Sliding Mode Control of a SMA Actuator Based on Unscented Kalman Filter[C]. 见:. Kuala Lumpur, Malaysia. December 12-15, 2018. |
入库方式： OAI收割
来源：沈阳自动化研究所
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