Fraction-based input modification for fast SMA-actuation

Shape Memory Alloy actuators are microactuators that are known for their high actuation-force and -strain. Limiting the application of Shape Memory Alloy actuators is the lack of suitable control algorithms that can deal with the highly non-linear dynamics of the actuator. The latter suffers from hysteresis and is characterized by the changing crystallographic structure of Shape Memory Alloy. In this work, smart input constraints are developed to prevent overcooling and overheating, and by that, improve the tracking behavior of the actuator.