Continuous Nonsingular Terminal Sliding-Mode Control of Shape Memory Alloy Actuators Using Time Delay Estimation
We have developed a continuous nonsingular terminal sliding-mode control with time-delay estimation (TDE) for shape memory alloys (SMA) actuators. The proposed method does not need to describe a mathematical model of a hysteresis effect and other nonlinearities; thus, it is simple and model free. Th...
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| Veröffentlicht in: | IEEE/ASME transactions on mechatronics 2015-04, Vol.20 (2), p.899-909 |
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| container_title | IEEE/ASME transactions on mechatronics |
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| creator | Jin, Maolin Lee, Jinoh Ahn, Kyung Kwan |
| description | We have developed a continuous nonsingular terminal sliding-mode control with time-delay estimation (TDE) for shape memory alloys (SMA) actuators. The proposed method does not need to describe a mathematical model of a hysteresis effect and other nonlinearities; thus, it is simple and model free. The proposed control consists of three elements that have clear meaning: a TDE element that cancels nonlinearities in the SMA dynamics, an injection element that specifies desired terminal sliding-mode (TSM) dynamics, and a reaching element using a fast terminal sliding manifold that is activated accordingly when the system trajectory is not confined in the TSM. The proposed control has been successfully implemented in an SMA actuated system and experimental results show the proposed control is easily implementable and highly accurate. Once the TSM and the reaching condition are suitably specified, the tracking performance of the proposed control is improved compared with a conventional time delay control with a linear error dynamics. |
| doi_str_mv | 10.1109/TMECH.2014.2323897 |
| format | Article |
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The proposed method does not need to describe a mathematical model of a hysteresis effect and other nonlinearities; thus, it is simple and model free. The proposed control consists of three elements that have clear meaning: a TDE element that cancels nonlinearities in the SMA dynamics, an injection element that specifies desired terminal sliding-mode (TSM) dynamics, and a reaching element using a fast terminal sliding manifold that is activated accordingly when the system trajectory is not confined in the TSM. The proposed control has been successfully implemented in an SMA actuated system and experimental results show the proposed control is easily implementable and highly accurate. Once the TSM and the reaching condition are suitably specified, the tracking performance of the proposed control is improved compared with a conventional time delay control with a linear error dynamics.</description><identifier>ISSN: 1083-4435</identifier><identifier>EISSN: 1941-014X</identifier><identifier>DOI: 10.1109/TMECH.2014.2323897</identifier><identifier>CODEN: IATEFW</identifier><language>eng</language><publisher>New York: IEEE</publisher><subject>Actuators ; Adaptation models ; Control systems ; Convergence ; Dynamical systems ; Frequency modulation ; Hysteresis ; Mathematical model ; Mathematical models ; Model-free control ; Nonlinear dynamical systems ; Nonlinear dynamics ; Nonlinearity ; Shape memory alloys ; shape memory alloys (SMAs) ; terminal sliding mode (TSM) ; Terminals ; time-delay estimation (TDE)</subject><ispartof>IEEE/ASME transactions on mechatronics, 2015-04, Vol.20 (2), p.899-909</ispartof><rights>Copyright The Institute of Electrical and Electronics Engineers, Inc. (IEEE) Apr 2015</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c464t-862c1fe4d4893c3bc099a505b3434869b869590c09e16e9d40df5875fb2ae7143</citedby><cites>FETCH-LOGICAL-c464t-862c1fe4d4893c3bc099a505b3434869b869590c09e16e9d40df5875fb2ae7143</cites></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/6826566$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>314,776,780,792,27901,27902,54733</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/6826566$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc></links><search><creatorcontrib>Jin, Maolin</creatorcontrib><creatorcontrib>Lee, Jinoh</creatorcontrib><creatorcontrib>Ahn, Kyung Kwan</creatorcontrib><title>Continuous Nonsingular Terminal Sliding-Mode Control of Shape Memory Alloy Actuators Using Time Delay Estimation</title><title>IEEE/ASME transactions on mechatronics</title><addtitle>TMECH</addtitle><description>We have developed a continuous nonsingular terminal sliding-mode control with time-delay estimation (TDE) for shape memory alloys (SMA) actuators. The proposed method does not need to describe a mathematical model of a hysteresis effect and other nonlinearities; thus, it is simple and model free. The proposed control consists of three elements that have clear meaning: a TDE element that cancels nonlinearities in the SMA dynamics, an injection element that specifies desired terminal sliding-mode (TSM) dynamics, and a reaching element using a fast terminal sliding manifold that is activated accordingly when the system trajectory is not confined in the TSM. The proposed control has been successfully implemented in an SMA actuated system and experimental results show the proposed control is easily implementable and highly accurate. Once the TSM and the reaching condition are suitably specified, the tracking performance of the proposed control is improved compared with a conventional time delay control with a linear error dynamics.</description><subject>Actuators</subject><subject>Adaptation models</subject><subject>Control systems</subject><subject>Convergence</subject><subject>Dynamical systems</subject><subject>Frequency modulation</subject><subject>Hysteresis</subject><subject>Mathematical model</subject><subject>Mathematical models</subject><subject>Model-free control</subject><subject>Nonlinear dynamical systems</subject><subject>Nonlinear dynamics</subject><subject>Nonlinearity</subject><subject>Shape memory alloys</subject><subject>shape memory alloys (SMAs)</subject><subject>terminal sliding mode (TSM)</subject><subject>Terminals</subject><subject>time-delay estimation (TDE)</subject><issn>1083-4435</issn><issn>1941-014X</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2015</creationdate><recordtype>article</recordtype><sourceid>RIE</sourceid><recordid>eNpdkb1OwzAUhSMEEqXwArBYYmFJ8X_jsSqFIrUwtJXYIje5AVdOXOxk6Nvj0IqB4fpaR9-50tFJkluCR4Rg9bhezqbzEcWEjyijLFPjs2RAFCdplD7O4x9nLOWcicvkKoQdxpgTTAbJfuqa1jSd6wJ6c00wzWdntUdr8LVptEUra8oopktXAuph7yxyFVp96T2gJdTOH9DEWhffou1063xAm_4OWpsa0BNYfUCz0Jpat8Y118lFpW2Am9MeJpvn2Xo6TxfvL6_TySItuORtmklakAp4yTPFCrYtsFJaYLFlnPFMqm0coXCUgUhQJcdlJbKxqLZUw5hwNkwejnf33n13ENq8NqEAa3UDMWxOJKdUyEywiN7_Q3eu8zF8T5GxVJJjGSl6pArvQvBQ5XsfM_lDTnDel5D_lpD3JeSnEqLp7mgyAPBnkBmVQkr2A4k5gv8</recordid><startdate>20150401</startdate><enddate>20150401</enddate><creator>Jin, Maolin</creator><creator>Lee, Jinoh</creator><creator>Ahn, Kyung Kwan</creator><general>IEEE</general><general>The Institute of Electrical and Electronics Engineers, Inc. (IEEE)</general><scope>97E</scope><scope>RIA</scope><scope>RIE</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>7SC</scope><scope>7SP</scope><scope>7TB</scope><scope>8FD</scope><scope>FR3</scope><scope>JQ2</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope><scope>8BQ</scope><scope>F28</scope><scope>JG9</scope></search><sort><creationdate>20150401</creationdate><title>Continuous Nonsingular Terminal Sliding-Mode Control of Shape Memory Alloy Actuators Using Time Delay Estimation</title><author>Jin, Maolin ; Lee, Jinoh ; Ahn, Kyung Kwan</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c464t-862c1fe4d4893c3bc099a505b3434869b869590c09e16e9d40df5875fb2ae7143</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2015</creationdate><topic>Actuators</topic><topic>Adaptation models</topic><topic>Control systems</topic><topic>Convergence</topic><topic>Dynamical systems</topic><topic>Frequency modulation</topic><topic>Hysteresis</topic><topic>Mathematical model</topic><topic>Mathematical models</topic><topic>Model-free control</topic><topic>Nonlinear dynamical systems</topic><topic>Nonlinear dynamics</topic><topic>Nonlinearity</topic><topic>Shape memory alloys</topic><topic>shape memory alloys (SMAs)</topic><topic>terminal sliding mode (TSM)</topic><topic>Terminals</topic><topic>time-delay estimation (TDE)</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Jin, Maolin</creatorcontrib><creatorcontrib>Lee, Jinoh</creatorcontrib><creatorcontrib>Ahn, Kyung Kwan</creatorcontrib><collection>IEEE All-Society Periodicals Package (ASPP) 2005-present</collection><collection>IEEE All-Society Periodicals Package (ASPP) 1998-Present</collection><collection>IEEE Electronic Library (IEL)</collection><collection>CrossRef</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics & Communications Abstracts</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>Engineering Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><collection>METADEX</collection><collection>ANTE: Abstracts in New Technology & Engineering</collection><collection>Materials Research Database</collection><jtitle>IEEE/ASME transactions on mechatronics</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Jin, Maolin</au><au>Lee, Jinoh</au><au>Ahn, Kyung Kwan</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Continuous Nonsingular Terminal Sliding-Mode Control of Shape Memory Alloy Actuators Using Time Delay Estimation</atitle><jtitle>IEEE/ASME transactions on mechatronics</jtitle><stitle>TMECH</stitle><date>2015-04-01</date><risdate>2015</risdate><volume>20</volume><issue>2</issue><spage>899</spage><epage>909</epage><pages>899-909</pages><issn>1083-4435</issn><eissn>1941-014X</eissn><coden>IATEFW</coden><abstract>We have developed a continuous nonsingular terminal sliding-mode control with time-delay estimation (TDE) for shape memory alloys (SMA) actuators. The proposed method does not need to describe a mathematical model of a hysteresis effect and other nonlinearities; thus, it is simple and model free. The proposed control consists of three elements that have clear meaning: a TDE element that cancels nonlinearities in the SMA dynamics, an injection element that specifies desired terminal sliding-mode (TSM) dynamics, and a reaching element using a fast terminal sliding manifold that is activated accordingly when the system trajectory is not confined in the TSM. The proposed control has been successfully implemented in an SMA actuated system and experimental results show the proposed control is easily implementable and highly accurate. Once the TSM and the reaching condition are suitably specified, the tracking performance of the proposed control is improved compared with a conventional time delay control with a linear error dynamics.</abstract><cop>New York</cop><pub>IEEE</pub><doi>10.1109/TMECH.2014.2323897</doi><tpages>11</tpages></addata></record> |
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| subjects | Actuators Adaptation models Control systems Convergence Dynamical systems Frequency modulation Hysteresis Mathematical model Mathematical models Model-free control Nonlinear dynamical systems Nonlinear dynamics Nonlinearity Shape memory alloys shape memory alloys (SMAs) terminal sliding mode (TSM) Terminals time-delay estimation (TDE) |
| title | Continuous Nonsingular Terminal Sliding-Mode Control of Shape Memory Alloy Actuators Using Time Delay Estimation |
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