ANFIS modeling and feed forward control of shape memory alloy actuators

Abstract

This paper focuses on the application of ANFIS in modeling the nonlinear behavior of the shape memory alloy actuators. Although, SMA actuators have attracted much attention for applications in many fields such as miniature robots they have not been widely utilized for motion control applications due to their nonlinear behaviors and control difficulties. Because of their ability in the nonlinear learning and adaptation, ANFIS architectures are suitable tools for obtaining model and controller in nonlinear systems. A set of experiments are conducted to generate the data. The test bed includes a SMA wire, a force sensor, a data acquisition terminal and a power amplifier. The reported results demonstrate the ability of ANFIS for modeling of SMA behavior and force control of the SMA wire.