The current study presents an adaptive control approach to solve the tracking trajectory problem for a robotic manipulator that uses gripper based on bimorph piezoelectric actuators. development of gain state feedback form considers restrictions is proposed using novel class barrier Lyapunov function drives effective joints and method allows inclusion complex combinations in function, yielding ...

Shape memory alloy (SMA) thin films, especially those based on Ni-Ti, have received considerable attention since it was demonstrated that they can undergo a nearly perfect shape memory effect [1-7]. When SMA films are used as actuators in MEMS devices, biasing springs are generally needed to restore the initial state in order to achieve a twoway shape memory effect. As a result, use of SMA actu...