{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,2]],"date-time":"2026-02-02T12:16:40Z","timestamp":1770034600780,"version":"3.49.0"},"reference-count":40,"publisher":"SAGE Publications","issue":"1","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IFS"],"published-print":{"date-parts":[[2021,8,11]]},"abstract":"<jats:p>Miniature flexible parallel robots, popularly used for micro positioning application demands the use of non conventional actuators. Shape memory alloys (SMA) are popular smart actuators because of its light weight, integration compatibility, ease of actuation and high power density. Inclusion of shape memory alloy actuators to the parallel robot brings in control challenges due to its nonlinearity, coupling effects and cocontraction of antagonistic pair of actuators in the mechanism in order to achieve bi directional motion. In this paper, a PID like fuzzy controller is designed and applied to a nonlinear SMA spring actuator connected to a symmetric 2 DOF miniature parallel robot. The fuzzy rules are designed from the general response plot and modified to be applied to a parallel mechanism which involves cocontraction of antagonistic actuators. The paper has also presented the control and electrical circuit design used in the experimental set up. The fuzzy control is implemented in the hardware controller with model based position feedback and tested for the trajectory tracking characteristics of the end effector with disturbances. Experimental results are presented with quantitative analysis to show the effectiveness of the proposed controller in handling nonlinearities and disturbances compared to the conventional PID control and nonlinear Sliding mode control (NSMC). The test results has demonstrated the superior nature of proposed control over other controllers in the trajectory tracking with disturbances and also linearizing the hysteresis of controlled system.<\/jats:p>","DOI":"10.3233\/jifs-202572","type":"journal-article","created":{"date-parts":[[2021,7,3]],"date-time":"2021-07-03T04:41:50Z","timestamp":1625287310000},"page":"735-755","source":"Crossref","is-referenced-by-count":3,"title":["Modified PID like fuzzy servo control applied to smart actuator based miniature Parallel Robot"],"prefix":"10.1177","volume":"41","author":[{"given":"R.","family":"Ranjith Pillai","sequence":"first","affiliation":[{"name":"Department of Mechatronics Engineering, College of Engineering and Technology, SRM Institute of Science and Technology, SRM Nagar, Kattankulathur, Kanchipuram, Chennai, Tamil Nadu, India"}]},{"given":"Ganesan","family":"Murali","sequence":"additional","affiliation":[{"name":"Department of Mechatronics Engineering, College of Engineering and Technology, SRM Institute of Science and Technology, SRM Nagar, Kattankulathur, Kanchipuram, Chennai, Tamil Nadu, India"}]}],"member":"179","reference":[{"key":"10.3233\/JIFS-202572_ref1","unstructured":"Merlet J.P. , Parallel Robots, Springer (2008)."},{"key":"10.3233\/JIFS-202572_ref2","unstructured":"Kong X. , Gosselin C. , Type Synthesis of Parallel Mechanisms, Springer, New York, (2007)."},{"key":"10.3233\/JIFS-202572_ref4","doi-asserted-by":"crossref","unstructured":"Terenziano Raparelli1, Pierluigi Beomonte Zobel and Francesco Durante, Design of a Parallel Robot Actuated by Shape Memory AlloyWires, Materials Transactions 43 (2002), 1015\u20131022.","DOI":"10.2320\/matertrans.43.1015"},{"key":"10.3233\/JIFS-202572_ref5","doi-asserted-by":"crossref","first-page":"149","DOI":"10.1016\/j.sna.2009.12.020","article-title":"The high potential of shape memory alloys in developing miniature mechanical devices: A review on shape memory alloy mini-actuators","volume":"158","author":"Nespoli","year":"2010","journal-title":"Sensors and Actuator A: Phys"},{"key":"10.3233\/JIFS-202572_ref6","doi-asserted-by":"crossref","unstructured":"Elwaleed Awad Khidira, Nik Abdullah Mohamed, Mohd Jailani Mohd Nor and Mohd Marzuki Mustafa, A new method for actuating parallel manipulators, Sensors and Actuators A: Physical 147 (2008), 593\u2013599.","DOI":"10.1016\/j.sna.2008.06.018"},{"key":"10.3233\/JIFS-202572_ref7","doi-asserted-by":"crossref","unstructured":"Shi Zhenyun, Wang Tianmiao, Liu Da, Ma Chen and Yuan Xiangnan, A fuzzy PID-controlled SMA actuator for a two-DOF joint, Chinese Journal of Aeronautics 27 (2014), 453\u2013460.","DOI":"10.1016\/j.cja.2014.02.015"},{"key":"10.3233\/JIFS-202572_ref8","first-page":"1568","article-title":"Fuzzy based sliding surface for shape memory alloy wire actuated classical super-articulated control system","volume":"32","author":"Sunjai Nakshatharan","year":"2015","journal-title":"Applied Soft Computing"},{"key":"10.3233\/JIFS-202572_ref9","doi-asserted-by":"crossref","first-page":"210","DOI":"10.1016\/j.measurement.2015.02.058","article-title":"Bidirectional angular control of an integrated sensor\/actuator shape memory alloy based system","volume":"69","author":"Josephine Selvarani Ruth","year":"2015","journal-title":"Measurement"},{"key":"10.3233\/JIFS-202572_ref10","doi-asserted-by":"crossref","unstructured":"Tyler Ross Lambert, Austin Gurley and David Beale, SMA actuator material model with self-sensing and sliding-mode control; experiment and multibody dynamics model, Smart Mater. 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