A Novel Data-Driven Control Method for Shape Memory Alloy Actuated Robot Joint ∗
文献类型：会议论文
| 作者 | Zhang DH(张道辉)2,3 ; Ren, Zhirong1; Zhao XG(赵新刚)2,3; Zhao M(赵明)2,3; Xu Z(徐壮)2,3; Ye D(叶丹)1
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| 出版日期 | 2020 |
| 会议日期 | November 6-8, 2026 |
| 会议地点 | Shanghai, China |
| 页码 | 6622-6627 |
| 英文摘要 | For robot joints actuated by Shape Memory Alloy (SMA), the traditional control methods need to establish a complex mechanism model of the plant and need to re-model when replacing the controlled plant. A novel and improved method based on Data-Driven Control (DDC) is proposed to control the robot joint driven by SMA. The proposed method is a pure online data-driven control method since the controller is independent of the model of the controlled plant, and the idea of speed tracking is introduced into the control criterion function of the DDC prototype. The stability of the proposed method is guaranteed by rigorous theoretical analysis, and the effectiveness is evaluated on simulation examples and SMA-driven wrist control experiments. The result of experiments shows that, compared with traditional DDC, the proposed method has a lower steady-state system error and faster system response speed. |
| 产权排序 | 1 |
| 会议录 | Proceedings - 2020 Chinese Automation Congress, CAC 2020
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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 | 978-1-7281-7687-1 |
| WOS记录号 | WOS:000678697006135 |
| 源URL | [http://ir.sia.cn/handle/173321/28372]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 通讯作者 | Zhang DH(张道辉) |
| 作者单位 | 1.College of Information Science and Engineering, Northeastern University 2.State Key Laboratory of Robotics, Shenyang Institute of Automation 3.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences |
| 推荐引用方式 GB/T 7714 | Zhang DH,Ren, Zhirong,Zhao XG,et al. A Novel Data-Driven Control Method for Shape Memory Alloy Actuated Robot Joint ∗[C]. 见:. Shanghai, China. November 6-8, 2026. |
入库方式： OAI收割
来源：沈阳自动化研究所
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