Sliding mode-based control of thin Shape Memory Alloy actuators using a spatial hysteresis approximation

Efthymios Kolyvas, Yannis Koveos, Anthony Tzes

Research output: Contribution to journalArticlepeer-review


Shape Memory Alloy (SMA) actuators rely their operation on a thermally driven phase change. The SMA's stroke position control problem thus involves the material temperature in a direct or indirect way. In thin SMA actuators, deviations between the actual and the estimation of the temperature profile can affect the performance of model-based control. In this work, an intermediary strategy, between a model-free and a model-based one, is proposed, where local approximations to the hysteretic trajectories are used in place of a complete hysteresis description. The localized trajectory is then spatially shifted to encapsulate the hysteretic behavior. A sliding mode based controller is constructed by this implementation exhibiting accurate tracking behavior. The advantages against existing model-free controllers are further investigated over a multi-rate control scheme. The results show that efficient tracking position control can be reached even at very low output feedback frequencies.

Original languageEnglish (US)
Pages (from-to)115-127
Number of pages13
StatePublished - Dec 1 2016


  • Local approximation
  • Multi-rate loop
  • Shape memory alloy
  • Tracking control

ASJC Scopus subject areas

  • Mechanical Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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