This paper presents a two-pan controller that uses a state variable estimator for control of a single degree of freedom rotary manipulator acutated by Shape Memory Alloy (SMA) wire. A model for the SMA actuated manipulator is presented. The model includes nonlinear dynamics of the manipulation a constitutive model of the Shape Memory Alloy. and the electrical and heat transfer behavior of SMA wire. The estimator predicts the state vector ...
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