a Design and Experimental Implementation of a Fuzzy Logic Controller for Shape Memory Alloy-Driven Robotic Arm

A robotic manipulator actuated by shape memory alloy (SMA) offers a lightweight and compact design but poses significant control challenges due to the material's inherent nonlinearities, such as hysteresis and slow cooling dynamics. This study deals with the design and experimental implementation of a fuzzy logic controller for the precise position control of an SMA-driven arm. The angular displacement of the robotic arm is measured using an encoder, which provides the feedback for the control system. The proposed fuzzy controller is designed with two input variables including the tracking error and its derivative and a single output for the command voltage. A rule base of ۲۵ linguistic rules is constructed based on proportional-derivative (PD) control principles to effectively manage the SMA's nonlinear behaviour. Finally, the controller is implemented on a laboratory-scale manipulator, and experimental tests under step and sinusoidal reference trajectories are conducted. The results illustrate the good performance of the proposed control scheme, demonstrating superior tracking accuracy and reliability compared to a conventional PD controller.

کلیدواژه ها:

Fuzzy control ، Shape memory alloy ، Robotic arm ، Experimental validation