Fuzzy PID controller design for artificial finger based SMA actuators

Abstract

Shape Memory Alloy (SMA) wires are currently employed in robotics, as well as prosthetic limbs and medical equipment. Due to advantages such as reducing the size in the application, high power-to-weight ratio, elimination of complex transmission systems and noiseless actuation, and human-machine interface, these materials are used as actuators in the prosthesis limb. Because of hysteresis property and nonlinear behavior of SMA, control of these actuators is very complicated. In this paper, the design of control algorithms has been discussed for SMA actuators in the artificial fingers with 3 DOF, which includes PID-fuzzy controller. Gains of controllers are set so that the current applied to SMA wires has minimum overshoot and output of system has minimal time to achieve stability. The simulation results compared with actual measured data show how well the controllers decrease the overshoot and time of stability of input signal to SMA wires.