Sliding Mode and Super-Twisting Sliding Mode Control Structures for SMA Actuators*

This paper aims to design the optimal sliding mode and super twisting sliding mode controllers for the nonlinear Shape Memory Alloy (SMA) wire actuators. The parameters of the proposed controllers are optimally tuned using the metaheuristic Grey Wolf optimizer algorithm and a comparative analysis is carried out. All control structures are validated by simulations using an accurate evolved Takagi-Sugeno-Kang fuzzy model of SMA wire actuators and their control performance is evaluated.