1. Prescribed performance model-free adaptive sliding mode control of a shape memory alloy actuated system.
- Author
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Liu, Mingfang, Zhao, Zhirui, and Hao, Lina
- Subjects
SHAPE memory alloys ,MODE shapes ,NONLINEAR systems ,ROBUST control ,ADAPTIVE control systems ,SLIDING mode control - Abstract
This paper concentrates on a simple and robust control method for the discrete time nonlinear systems to fulfill the requirement of predefined accuracy. A sliding mode control method is designed by introducing equivalent dynamic linearization technique according to the input/output (I/O) information merely. A square-root type error transformation method is presented for the tracking error to be restricted within a preassigned zone. The performance of presented control method is demonstrated through experiments on a nonlinear system. Experiment results show that the presented control method has a superior tracking accuracy compared with PID controller and model-free adaptive control (MFAC). • A novel prescribed performance function is proposed to convert the restricted tracking error into an unrestricted one. • A novel sliding mode control framework with a unconstrained variable is investigated to ensure the tracking error in a prescribed region according to I/O data. • This control method is presented for the discrete-time system, which is easily implemented on the hardware system without numerical approximation. • An experiment is conducted on the SMA system to verify a good performance of this control method. [ABSTRACT FROM AUTHOR]
- Published
- 2022
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