Modeling and Position Control of Shaape Memory Alloy Actuators Using PID Control with Fuzzy Gain Scheduler

This paper presents a new approach to position control of shape memory alloy actuators using fuzzy supervisory controller. Shape memory alloy actuators exhibit severe hysteresis, which is often responsible for the inaccuracy in a regulation or tracking system. The proposed controller is a PID controller with fuzzy gain scheduler. Dynamic modeling of a single SMA wire is performed and the proposed controller is imposed on it. Simulation results show the performance of the controller in a tracking problem. Using the controller, the actuator follows the desired command precisely.