Proceedings of the Korean Society of Precision Engineering Conference (한국정밀공학회:학술대회논문집)
- 1996.11a
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- Pages.391-395
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- 1996
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- 2005-8446(pISSN)
Force Tracking Control of a Small-Sized SMA Gripper H$_\infty$ Synthesis
H$_\infty$ 제어기법을 적용한 소형 SMA 그립퍼의 힘 추적 제어
Abstract
This paper presents a robust force tracking control of a small-sized SMA gripper with two fingers using shape memory alloy(SMA) actuators. The mathematical governing equation of the proposed system is derived by Hamilton's principle and Lagrangian equation and then, the control system model is integrated with the first-order actuator dynamics. Uncertain system parameters such as time constant of the actuators are also included in the control model. A robust two degree of freedom(TDF) controller using H
Keywords