Design and Experimental Implementation of a Fuzzy Logic Controller for Shape Memory Alloy-Driven Robotic Arm
پذیرفته شده برای پوستر
کد مقاله : 1119-ISAV2025 (R1)
نویسندگان
دانشکده مهندسی مکانیک، دانشگاه صنعتی سهند، تبریز، ایران
چکیده
A robotic manipulator actuated by shape memory alloy (SMA) offers a lightweight and com-pact design but poses significant control challenges due to the material's inherent nonlineari-ties, such as hysteresis and slow cooling dynamics. This study deals with the design and ex-perimental 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 de-signed with two input variables including the tracking error and its derivative and a single output for the command voltage. A rule base of 25 linguistic rules is constructed based on proportional-derivative (PD) control principles to effectively manage the SMA's nonlinear be-haviour. Finally, the controller is implemented on a laboratory-scale manipulator, and experi-mental tests under step and sinusoidal reference trajectories are conducted. The results illus-trate the good performance of the proposed control scheme, demonstrating superior tracking accuracy and reliability compared to a conventional PD controller.
کلیدواژه ها
Title
Design and Experimental Implementation of a Fuzzy Logic Controller for Shape Memory Alloy-Driven Robotic Arm
Authors
Motahareh Nasiri, Sadra Rafatnia, Mehdi Mirzaei, Zahra Ahangari Sisi
Abstract
A robotic manipulator actuated by shape memory alloy (SMA) offers a lightweight and com-pact design but poses significant control challenges due to the material's inherent nonlineari-ties, such as hysteresis and slow cooling dynamics. This study deals with the design and ex-perimental 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 de-signed with two input variables including the tracking error and its derivative and a single output for the command voltage. A rule base of 25 linguistic rules is constructed based on proportional-derivative (PD) control principles to effectively manage the SMA's nonlinear be-haviour. Finally, the controller is implemented on a laboratory-scale manipulator, and experi-mental tests under step and sinusoidal reference trajectories are conducted. The results illus-trate the good performance of the proposed control scheme, demonstrating superior tracking accuracy and reliability compared to a conventional PD controller.
Keywords
Fuzzy control, Shape Memory Alloy, Robotic arm, Experimental validation