A Finite-Time State-Dependent Differential Riccati Equation Control Design for Closed-Loop SMA-Actuated Hip Joint
V. Perez-Sanchez,S. R. Nekoo,B. Arrue,A. Ollero,V. Perez-Sanchez,S. R. Nekoo,B. Arrue,A. Ollero
This paper presents the modeling and closed loop control of the shape-memory-alloy (SMA)-actuated hip joint of a flapping-wing flying robot (FWFR). Despite the lightweight legs/claw mechanism, a strong force of grasping is needed. The SMAs show high force delivery; however, it is difficult to control (position and temperature) the actuation due to the necessity of high currents for warming up, and...
