Switched control from a agonist-antagonist mechanical linear system
Abstract
In this work, we propose an alternative control proposal for a linear mechanical system based on springs made from shape memory alloys (FMA), such system is presented in an agonist-antagonist configuration, which allows the manipulation of the position of an intermediate element (PM) through a differential of force generated by increasing the temperature of the FMA springs when electric current is applied through them. To regulate this position, a switched control scheme has been proposed that activates or deactivates the passage of electric current in the springs in such a way that the necessary force is produced to move the element. Likewise, we present the results of the simulations of the open-loop system before time-varying control signals, such as sinusoidal waves, as well as the response of the closed-loop system with the corresponding switched control law.Downloads
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