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This paper focuses on a simple and robust tracking control method based on a hyperbolic tangential sliding mode control (SMC) and time delay estimation (TDE) for a shape memory alloy (SMA) actuator. The TDE is used to compensate for hysteresis and other nonlinearities in the SMA dynamics, and the hyperbolic tangential SMC is used to specify nonlinear error dynamics which slides without exceeding the...
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