Skip navigation
Skip navigation

Accurate Force Control and Motion Disturbances Rejection for Shape Memory Alloy Actuators

Teh, Yee Harn; Featherstone, Roy


This paper presents simulation and experimental results for closed-loop force control of single-wire Shape Memory Alloy (SMA) actuators. The simulation uses a model derived from the frequency response analysis of SMA. Although the large-scale response has hysteresis and nonlinearities, small-signal frequency response analysis is possible on SMA wires, with detectable force response at frequencies up to 100 Hz. The model has been demonstrated to accurately predict closed-loop behaviour. A high...[Show more]

CollectionsANU Research Publications
Date published: 2007
Type: Conference paper
Source: Proceedings of ICRA '07
DOI: 10.1109/ROBOT.2007.364165


File Description SizeFormat Image
01_Teh_Accurate_Force_Control_and_2007.pdf158.21 kBAdobe PDF    Request a copy
02_Teh_Accurate_Force_Control_and_2007.pdf499.68 kBAdobe PDF    Request a copy
03_Teh_Accurate_Force_Control_and_2007.pdf776.17 kBAdobe PDF    Request a copy

Items in Open Research are protected by copyright, with all rights reserved, unless otherwise indicated.

Updated:  12 November 2018/ Responsible Officer:  University Librarian/ Page Contact:  Library Systems & Web Coordinator