Phase Transformation Modeling and Robust Adaptive Switching Control of Shape Memory Alloy Actuators With and Without Considering Time Delay of These Actuators

Shape Memory Alloys are widely used in the industry. Different researchers introduce successful models for phase transformation. In this work firstly the Lagoudas assumptionsis corrected and an enhanced model for phase transformation of these smart materials is introduced. Secondly we compare results of this model with cosine Liang-Rogers model. Results show a good consistency between this model and cosine Liang-Rogers model. Afterwards for the first time switching control for these operators is investigated. For this reason, special application of smart material is selected and a common Lyapunov function for all subsystems is selected to prove stability of the system under any arbitrary switching. Subsequently robust adaptive switching control is applied on it. Lastly, a time delay problem is supposed and it is shown that even by considering time delay for this switched system, it is globally asymptotically stable.