Nonlinear Position Control of Antagonistic Shape Memory Alloy Actuators
Why this work is in the frame
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Bibliographic record
Abstract
This paper presents a control scheme for angular position control of a rotary load using shape memory alloy (SMA) actuators in an antagonistic configuration. Hysteresis and significant nonlinearities in the stress-strain-temperature characteristics hinder effective utilization of SMA actuator. By considering the nonlinear behavior and thermal characteristics of SMA, a force control scheme based on partial feedback linearization and sliding surfaces is developed in this paper to regulate the torque applied by a differential SMA actuator pair. A position controller is then used to generate a desired torque which serves as a reference input for the force tracking controller. The controller is based on sliding surfaces and does not depend on characteristics of SMA. Thus an approximate model of SMA characteristics is sufficient. Experimental studies indicate that the proposed controller performs well in terms of achieving small tracking errors.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.003 | 0.002 |
| Meta-epidemiology (narrow) | 0.001 | 0.001 |
| Meta-epidemiology (broad) | 0.003 | 0.001 |
| Bibliometrics | 0.001 | 0.002 |
| Science and technology studies | 0.001 | 0.007 |
| Scholarly communication | 0.000 | 0.001 |
| Open science | 0.005 | 0.000 |
| Research integrity | 0.000 | 0.001 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it