Adaptive Predictive Control of Shape Memory Alloy (SMA) Actuator

An Adaptive Predictive control is proposed to control a Shape Memory Alloy (SMA) linear displacement actuator. A Black-Box (BB) model based on Laguerre orthogonal functions is used to identify the SMA needing only a limted set of parameters. A predictive controller was then implemented to control the SMA based on the recursive model and taking into account actuator limitations. Experiments proved that the predictive controller combined with efficient online identification strategy is able to robustly handle both nonlinearities and input constraints.