Model-Free Tracking Control with Prescribed Performance for a Shape Memory Alloy-Based Robotic Hand

The shape memory alloy (SMA)-based robotic hand has been a new emerging technology with potential applications ranging from life service to surgical treatment, because of the characteristics SMA, such as high power-to-weight ratio, small volume and low driving voltage. However, due complex dynamic model nonlinear aspects it is complicated control an SMA-based hand. This paper presents novel free adaptive for system. By applying Taylor series expansion method differential mean value theorem, SMA based system can be transformed into equivalent linearization model, which merely depends on measurement data without any information Combined prescribed performance control, constrain tracking error in preassigned domain. Experiments are conducted verify presented method.