Hossein Chehardoli - Department of Mechanical Engineering, Ayatollah Boroujerdi University, Boroujerd, Iran

Shape Memory Alloys (SMAs) show special properties that make them a suitable choice for industrial applications in many branches of engineering. SMAs can effectively change their shape and provide actuation by reinstating their memorized geometry. Different models are developed for the thermomechanical behavior of SMAs which are consisting of two main parts: a constitutive part and a phase transformation kinetics part. Several methods of controlling SMA actuators have been investigated; in this work, a robust adaptive control is applied on a single degree of freedom robot manipulator actuated by a SMA aire. For this reason initial nonlinear system is linearized using feedback linearization; then a robust adaptive control is applied on the system. Once outage power happen SMA actuator need some time to be cooled, as a result, more settling time is required in comparison with other actuators; and this fact is clearly appeared in final results. Lastly, the final results show that the system is asymptotic stable under the proposed robust adaptive control.

Shape memory alloy (SMA) actuators; SMA wire, ۱DOF robot manipulator, Robust adaptive control.