Experiment Verification and Stability Analysis of Iterative Learning Control for Shape Memory Alloy Wire
Experiment Verification and Stability Analysis of Iterative Learning Control for Shape Memory Alloy Wire
复制标题
形状记忆合金丝迭代学习控制实验验证及稳定性分析
DOI：
10.20965/jrm.2019.p0583
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发表时间：
2019
期刊：
影响因子：
--
通讯作者：
K. Tahara
中科院分区：
文献类型：
--
作者：
H. Kino;N. Mori;Shota Moribe;Kazuyuki Tsuda;K. Tahara
为了实现小型机器人操作器的控制，我们专注于使用形状记忆合金（SMA）的致动器。通过提供调整的电压，SMA线本身可以产生热量，收缩并控制其长度。然而，通常已知强滞后存在于给定的热和变形体积中。迄今为止开发的大多数控制方法都应用了详细建模和基于模型的控制。但是，在许多情况下，很难确定建模所需的参数设置。相反，迭代学习控制是一种不需要详细的动力学信息并通过迭代试验实现期望运动的方法。尽管SMA的迭代学习控制的开创性研究，收敛尚未得到详细证明。因此，本文描述了一个稳定性分析的迭代学习控制数学证明收敛在所需的长度。本文还详细介绍了一个实验验证的效果，收敛依赖于增益的变化。
To achieve the control of a small-sized robot manipulator, we focus on an actuator using a shape memory alloy (SMA). By providing an adjusted voltage, an SMA wire can itself generate heat, contract, and control its length. However, a strong hysteresis is generally known to be present in a given heat and deformation volume. Most of the control methods developed thus far have applied detailed modeling and model-based control. However, there are many cases in which it is difficult to determine the parameter settings required for modeling. By contrast, iterative learning control is a method that does not require detailed information on the dynamics and realizes the desired motion through iterative trials. Despite pioneering studies on the iterative learning control of SMA, convergence has yet to be proven in detail. This paper therefore describes a stability analysis of an iterative learning control to mathematically prove convergence at the desired length. This paper also details an experimental verification of the effect of convergence depending on the variation in gain.