Prescribed performance based nonlinear vibration control of a flexible arm with shape memory alloy actuator

Abstract

In order to reduce costs and efficiency, it is expected that the weight of arms used in robotic systems become lighter. However, the reduction of arm rigidness can easily lead to vibrations. To solve this problem, SMA (Shape Memory Alloy) is used to reduce vibrations. In this paper, the nonlinearity of SMA is taken into account and Novel prescribed performance is introduced to suppress vibrations.