Abstract
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.
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