Abstract: This paper presents a model-based sliding mode control law for mechanical systems, which use shape memory alloys (SMAs) as actuators. The systems under consideration are assumed to be fully ...

Abstract: This paper presents an approximate analytical solution for the weakly nonlinear closed-loop dynamics of the sliding phase of a sliding mode controlled rotary inverted pendulum based on the ...

Abstract: This paper presents an optimal sliding mode cascade control for stabilization of a class of underactuated nonlinear mechanical systems. A discrete-time, nonlinear model predictive control structure ...

Abstract: An analytical stability analysis of the steady trajectory for a surface vessel with various damping models is presented in this work. The analysis is based on a control-oriented, three ...

Abstract: This paper presents a nonlinear, robust control algorithm for accurate positioning of a single degree of freedom rotary manipulator actuated by Shape Memory Alloy (SMA). A model for an SMA ...

Abstract: This paper presents a robust nonlinear control that uses a state variable estimator for control of a single degree of freedom rotary manipulator actuated by shape memory alloy (SMA) wire. A ...