Adaptive Nonsingular Fast Terminal Sliding Mode Control for Shape Memory Alloy Actuated System

Due to its high power-to-weight ratio, low weight, and silent operation, shape memory alloy (SMA) is widely used as a muscle-like soft actuator in intelligent bionic robot systems. However, hysteresis nonlinearity and multi-valued mapping behavior can severely impact trajectory tracking accuracy. Th...

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Bibliographic Details

Published in:	Actuators
Main Authors:	Xiaoguang Li, Wenzhuo Zhi, Enming Shi, Xiaoliang Fan, Ming Zhao, Bi Zhang
Format:	Article
Language:	English
Published:	MDPI AG 2024-09-01
Subjects:	shape memory alloy (SMA) hysteresis nonlinearity variable gain extended state observer nonsingular fast terminal sliding mode control adaptive control
Online Access:	https://www.mdpi.com/2076-0825/13/9/367