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Extended state observer-based feedback linearization control of shape memory alloy actuator: design and experiment

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Abstract

This study focuses on the position control by utilizing a shape memory alloy (SMA) actuator consisting of a coil wire made of nickel titanium. Since the hysteresis behavior of SMA brings some complexities in modeling of the system and increases its degrees of freedom, a reduced-order model is introduced to design the controller in this study. An extended state observer (ESO) is proposed to compensate for the uncertainties arising from the inconsistency of the reduced-order model and the actual system. In the proposed method, the measured displacement is utilized to estimate unknown terms in the system, along with other states. Mathematical analyses are provided to show the stability of the proposed scheme. The feedback linearization controller designed from the constructed reduced-order model is capable of updating itself to real conditions by effectively utilizing available information of uncertainties from the ESO. The performance of the proposed adaptive controller in the presence of input saturation of SMA-actuated system has been evaluated through experiments. The comparative results indicate high accuracy for the proposed ESO-based feedback linearization controller in compensating for the uncertainties under different trajectories.

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Acknowledgements

We have not received any external funding and thus do not see the need for an acknowledgement section.

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Authors and Affiliations

  1. Faculty of Mechanical Engineering, Sahand University of Technology, Tabriz, 513351996, Iran

    Mohammad Mohammadi Shahir, Mehdi Mirzaei & Sadra Rafatnia

  2. Department of Chemistry, Tabriz Branch, Islamic Azad University, Tabriz, 5157944533, Iran

    Maryam Farbodi

Authors
  1. Mohammad Mohammadi Shahir
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  2. Mehdi Mirzaei
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  3. Maryam Farbodi
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  4. Sadra Rafatnia
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Contributions

All authors contributed to the study conception and design. Data collection and analysis were performed by Shahir, Mirzaei and Rafatnia. Farbodi carried out the formal analysis. The first draft of the manuscript was written by Shahir; Mirzaei, Farbodi and Rafatnia commented on previous versions of the manuscript. All authors read and approved the final manuscript.

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Correspondence to Mehdi Mirzaei.

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Shahir, M.M., Mirzaei, M., Farbodi, M. et al. Extended state observer-based feedback linearization control of shape memory alloy actuator: design and experiment. Int. J. Dynam. Control (2023). https://doi.org/10.1007/s40435-023-01362-8

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  • DOI: https://doi.org/10.1007/s40435-023-01362-8

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