Asymmetric Reset Control for Shape Memory Alloy Actuators
DOI:
https://doi.org/10.17979/ja-cea.2026.47.13727Keywords:
Smart Structures, Stability of hybrid systems , Motion Control SystemsAbstract
Shape-memory alloy (SMA) actuators are an alternative to conventional motors in robotics due to their high force-to-weight ratio, compact size, and silent operation. However, their thermal operating principle poses control challenges. Activation can be controlled by electrical heating, but recovery depends on passive cooling. This generates asymmetric behavior that limits the operating frequency and degrades tracking in repetitive motions. Current approaches mainly address nonlinearities such as hysteresis and parametric uncertainty, while errors accumulated during recovery have received less attention.
This work proposes an asymmetric reset control strategy to mitigate the integral accumulation associated with the thermal recovery of SMAs. Partial reset actions are introduced on the integral term of a PID. The closed-loop dynamics are derived using a phenomenological model and analyzed via Lyapunov criteria. Experimental validation demonstrates improved tracking during heating and reduced cumulative control demand, while maintaining comparable overall performance.
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Copyright (c) 2026 Carmen Ballester, Víctor Muñoz, Dorin Copaci, Luis Moreno, Dolores Blanco
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