Adaptive fuzzy sliding mode control of X-Y platform driven by shape memory alloy

摘要

This study describes an X-Y platform driven by SMAs. The advantages of this platform are a simple mechanism design, low power consumption, and low cost. Unlike servo motor control, SMA can undergo thermoelastic martensitic transformation through increases in temperature above a certain level, which results in a pulling force that drives the platform. In the system described herein, an optical sensor is used to track the movements of the platform, which are then sent to a digital signal processor. An adaptive fuzzy sliding mode controller with parameters that are tuned online using the gradient descent method is used to enable the optimal tracking control of the X-Y platform.