机电工程技术2025，Vol.54Issue(22)：1-5,28,6.DOI:10.3969/j.issn.1009-9492.2025.00009
基于扩展观测器的SMA驱动系统自适应反步滑模控制
Adaptive Backstepping Sliding Mode Control of a SMA Actuator Based on Extended State Observer
摘要
Abstract
The nonlinear hysteresis phenomenon in a biased shape memory alloy(SMA)actuator system is investigated and an adaptive backstepping sliding mode control method is proposed based on an extended state observer(ESO)to achieve precise position tracking.The SMA actuator's mathematical model is established based on the physical characteristics of the SMA material.An ESO is designed to estimate and compensate for external disturbances,and combined with the adaptive backstepping sliding mode control,precise position tracking of the actuator is realized.The stability of the proposed control method is rigorously analyzed using Lyapunov stability theory,ensuring system stability.The control parameters are optimized through simulation,and tracking and anti-interference experiments are conducted on the experimental platform.Experimental results demonstrate that,compared to traditional backstepping or sliding mode control,the proposed method improves the tracking accuracy by over 6.8%during sinusoidal tracking,and exhibits superior disturbance rejection and robustness,meeting the accuracy and reliability requirements for practical applications.关键词
形状记忆合金/非线性建模/扩张状态观测器/自适应控制Key words
shape memory alloy/nonlinear modeling/extended state observer/adaptive control分类
信息技术与安全科学引用本文复制引用
赵梦西,王银迪,王扬威..基于扩展观测器的SMA驱动系统自适应反步滑模控制[J].机电工程技术,2025,54(22):1-5,28,6.基金项目
国家自然科学基金项目(52075089) （52075089）
黑龙江省自然科学基金项目(LH2019E008) （LH2019E008）
