Adaptive Dual-Layer Sliding Mode Control for Ball on Plate System Driven by Shape Memory Alloy Wire

This paper presents a dual-layer adaptive sliding mode control for the ball on plate system which is driven by a Shape Memory Alloy (SMA) wire actuator. Due to the peculiar properties of the SMA actuator, the conventional heavy actuators are replaced. The proposed dual-layer controller is responsible for mitigating the external disturbances and uncertainty of the system, which has the highest degree of nonlinearity by itself and due to the peculiar characteristics of the SMA actuator. This work focuses on the construction of the ball on the plate system with an SMA wire actuator implemented with dual-layer SMC. The design was then validated by experimentation using Simulink/MATLAB™.