PROJECT TITLE :

Interrogation of Undersensing for an Underactuated Dynamical System

ABSTRACT:

This paper reports on a difficult application that uses shape memory alloy (SMA) wire to perform simultaneously each as actuator and sensor in an underactuated system. The study highlights the potential of SMA to work an open-loop unstable, highly nonlinear complex dynamical system with the main target of reducing cost, weight, and system complexity. To authenticate this idea, the system beneath consideration is the well-known classical control downside-ball balancing beam system instrumented with self-sensing SMA wires. The proposed mechatronic system style is tuned and verified by co-simulation using automatic dynamic analysis of mechanical systems and is demonstrated in real time. The results are promising and depict the intellectual handling ability of the self-sensing SMA to stabilize and management the system, thereby establishing the benefit of introducing undersensing for the control of underactuated systems.