A Novel Data-Driven Control Method for Shape Memory Alloy Actuated Robot Joint

摘要

For robot joints actuated by Shape Memory Alloy (SMA), the traditional control methods need to establish a complex mechanism model of the plant and need to re-model when replacing the controlled plant. A novel and improved method based on Data-Driven Control (DDC) is proposed to control the robot joint driven by SMA. The proposed method is a pure online data-driven control method since the controller is independent of the model of the controlled plant, and the idea of speed tracking is introduced into the control criterion function of the DDC prototype. The stability of the proposed method is guaranteed by rigorous theoretical analysis, and the effectiveness is evaluated on simulation examples and SMA-driven wrist control experiments. The result of experiments shows that, compared with traditional DDC, the proposed method has a lower steady-state system error and faster system response speed.