Neuralnetwork based control of SMA actuator for the active catheter

Neuralnetwork based control of SMA actuator for the active catheter

  In this paper, the dynamics model of the SMA actuator which was used for the control of bending the angle of a catheter tip was studied. It was shown analytically that the bending angle control of the active catheter was possible by using the resistance feedback control of SMA actuator. Also, we proved the resistance feedback control was possible experimentally but the precise control is somewhat difficult to achieve. This resistance control strategy is quite advantageous to the space limited structure like the active catheter. For the nonlinear implicit SMA actuator, we conducted the neural network based control system design and compared it with a conventional PID controller.