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Fuzzy Time Delay Algorithms for Position Control of Soft Robot Actuated by Shape Memory Alloy

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  • Robot and Applications
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Abstract

Due to the nonlinear saturated hysteretic behavior of SMA during the phase transformation, it is not easy to achieve accurate position tracking control by establishing an effective controller for the SMA actuator system. In this paper, an accurate position control method based on fuzzy time delay algorithms for a soft robot is proposed. The error of TDE is unavoidable because the smallest value for the time delay is the sampling time of the microcontroller, a rule-based fuzzy logic controller for online gain tuning combined with TDC is proposed to eliminate the position control errors. Three different sets of experiments are conducted, using step, sine and ramp signals as reference inputs. The experimental results demonstrate that the proposed method has the smallest steady state error and the least overshoot than TDE and PI controller. In conclusion, the proposed method should be a viable alternative for position control of SMA actuator.

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Authors and Affiliations

  1. School of Mechanical and Electronic Engineering, Wuhan University of Technology, 122 Luoshi Road, Wuhan, Hubei, 430070, China

    Junfeng Li & Yunyao Pi

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  1. Junfeng Li
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  2. Yunyao Pi
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Correspondence to Junfeng Li.

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Publisher’s Note Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

This project is supported by National Natural Science Foundation of China (Grant No. 51705382).

Junfeng Li received his Ph.D. degree in human mechanical systems from Hokkaido University, Sapporo, Japan, in 2013. He is currently an associate professor with the School of Mechanical and Electronic Engineering, Wuhan University of Technology, Wuhan, China. His research interests include shape memory alloy actuators and soft robots.

Yunyao Pi received his B.Sc. degree in Nanchang University, China, in 2020 and he is now an M.S. candidate in Wuhan University of Technology. His current research interests include fuzzy logic control and algorithm optimization.

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Li, J., Pi, Y. Fuzzy Time Delay Algorithms for Position Control of Soft Robot Actuated by Shape Memory Alloy. Int. J. Control Autom. Syst. 19, 2203–2212 (2021). https://doi.org/10.1007/s12555-018-0313-5

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