Super Twisting Sliding Mode Control of a Robotic Manipulator Actuated by Shape Memory Alloy: Design and Experiment

EasyChair Preprint no. 10969

Abstract

This study focuses on practical implementation of a robust nonlinear controller, designed for a robotic manipulator under actuation of shape memory alloy (SMA). The nonlinear behavior of SMA, due to hysteresis effects, brings a complexity to the mathematical model of the robotic system, resulting in an increase of its degree of freedom. To address this issue, a reduced-order model is employed for designing the controller. However, the effect of un-modeled dynamics is compensated by a super twisting sliding mode control because of its capability in dealing with uncertainty. The simulation and experimental results indicate robust performance for the proposed controller in tracking different trajectories specified for the robotic manipulator. Moreover, in comparison with the traditional sliding model control, the proposed method has higher tracking accuracy with less chattering in the presence of model uncertainties.

Keyphrases: Robotic Manipulator, Shape memory alloy, super twisting sliding mode

@Booklet{EasyChair:10969,
  author = {Mohammad Mohammadi Shahir and Mehdi Mirzaei and Sadra Rafatnia and Zahra Ahangari Sisi},
  title = {Super Twisting Sliding Mode Control of a Robotic Manipulator Actuated by Shape Memory Alloy: Design and Experiment},
  howpublished = {EasyChair Preprint no. 10969},

  year = {EasyChair, 2023}}