Improved tracking control for an SMA actuator using controller based on error and inverse segmented model

Abstract

In this paper, a controller based on error and the inverse segmented model, is used to control the position of an SMA actuator. First an inverse model using three segments for both heating and cooling processes is built and experiments are used to validate the model and to identify the parameters. Then a controller, which is based on inverse segmented model and the value of error between the reference and actual displacement, is proposed in the position control process. Furthermore, experimental results demonstrate that the proposed controller performs better than both traditional PID controller and inverse segmented model controller.