Design and Experimental Validation of a Fuzzy Gain-Scheduled Sliding Mode Controller for a Robotic Arm Actuated by Shape Memory Alloy

This paper addresses the challenge of controlling a robotic arm actuated by shape memory alloy (SMA) actuator. The primary objective is to achieve precise position tracking by supplying a control voltage to the SMA actuator. To this end, a reduced-order model of the system is first developed. To manage modeling uncertainties, perturbations, and ensure high-precision tracking, a fuzzy gain-scheduling sliding mode controller (Fuzzy-SMC) is proposed. In this method, the SMC gain is adaptively tuned via a fuzzy inference system to maintain accuracy with minimal control effort. The efficiency of the proposed method is validated through experimental tests on a fabricated platform. The results demonstrate that the proposed Fuzzy-SMC achieves satisfactory performance and outperforms conventional sliding mode control.

کلیدواژه ها:

Shape memory allay ، Sliding mode control ، Fuzzy tuning ، Robotic arm