Comparative Analysis of Hybrid Sliding Mode and Classical Controllers for Ni-Ti SMA Smart Actuator Position Control

In this paper, a comparative analysis of Hybrid Sliding Mode PI and classical PI with intelligent properties controllers for Ni-Ti SMA smart actuator position control is presented. The SMA actuator mechanical dynamics are obtained using one-way actuator model. The actuator returns to its initial position using bias spring force. The SMA material model using the shear-strain driven approach is discussed. Two different controllers are presented and compared as a SMA actuator position controllers. The Hybrid Sliding Mode PI and the classical PI with intelligent properties controllers are compared. The comparison results depict that the controller with intelligent properties advantages surpass the advantages of the Hybrid Sliding Mode PI controller and it improves the rising and settling times of output displacement response. Both controllers provide output displacement without overshoot and zero steady state error which are essential in smart actuators applications.