Stochastic recruitment limited control of shape memory alloy based on Markov chain model

A new control method of Shape Memory Alloy (SMA) actuators based on stochastic recruitment is proposed. From the perspective of bionic control, the physiological basis of stochastic recruitment limited feedback control of artificial muscle is explained. The limited feedback control system of two-state cells and multi-state cells are established, and the limited feedback control law is deduced for these two kinds of systems. In the Simulink environment, two kinds of limited feedback control algorithms are simulated and compared, which verifies the feasibility of the algorithm. Aiming at the key problem of scaling coefficient in the system, the longitudinal and transverse comparative experiments are carried out to analyze the influence of the scaling coefficient on the system.