This paper introduces an indirect intelligent sliding mode controller (IISMC) for shape memory alloy (SMA) actuators, specifically a flexible beam deflected by a single offset SMA tendon. The controller manipulates applied voltage, which alters SMA tendon temperature to track reference bending angles. A hysteretic recurrent neural network (HRNN) captures the nonlinear, hysteretic relationship between SMA temperature and bending angle. The variable structure control strategy provides robustness to model uncertainties and parameter variations, while effectively compensating for system nonlinearities, achieving superior tracking compared to an optimized PI controller.

中文翻译：

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使用迟滞循环神经网络对形状记忆合金驱动柔性​​梁进行间接智能滑模控制


本文介绍了一种用于形状记忆合金 (SMA) 执行器的间接智能滑模控制器 (IISMC)，特别是由单个偏移 SMA 腱偏转的柔性梁。控制器控制施加的电压，从而改变 SMA 腱温度以跟踪参考弯曲角度。迟滞循环神经网络 (HRNN) 捕获 SMA 温度和弯曲角度之间的非线性、迟滞关系。变结构控制策略为模型不确定性和参数变化提供了鲁棒性，同时有效地补偿系统非线性，与优化的 PI 控制器相比，实现了卓越的跟踪。