Model based fault-tolerant control for SMA actuator in soft robotics

Abstract

Using Shape Memory Alloys (SMA) as actuators for soft robotics have some limitations such as long response times, the possibility of unintended actuation as well as structural fatigue are still present. Hence, applying these actuators in field of robotics led to in a reduction of reliability and safety of the overall system. To encounter this, the paper presents a method monitoring performance of SMA actuator and a method fault-tolerant control base on model will be discussed. The first, a thermo-mechanical model of a SMA wire is established for corresponding to an experiment setup. Furthermore, different approaches for simultaneous operation of reality and model of SMA actuator are introduced. Using model for simulation fault during operation of SMA actuator and controller design for fault tolerant control is also shown in this context.