. .. Sdre-control, 123 6.1.1.1 SDRE control for SMA based systems

, Programmed arm task: Grasping and carrying, p.149

.. .. Conclusions, , p.155

.. .. Conclusions,

.. .. Future-outlook,

;. +-arctan and . Arctan,

, + Pi/2)(1/Pi) Z1

, + Pi/2)(1/Pi) Z2[?k1 ]:=(ArcTan

;. +-arctan and . +-arctan-;-+-arctan,

F. Ruggiero, M. A. Trujillo, R. Cano, H. Ascorbe, A. Viguria et al., A multilayer control for multirotor UAVs equipped with a servo robot arm, IEEE International Conference on Robotics and Automation (ICRA), pp.4014-4020, 2015.

C. M. Korpela, T. W. Danko, and P. Y. Oh, Designing a system for mobile manipulation from an Unmanned Aerial Vehicle, Technologies for Practical Robot Applications (TePRA), 2011 IEEE Conference on, pp.109-114, 2011.

T. W. Danko and P. Y. Oh, A hyper-redundant manipulator for mobile manipulating unmanned aerial vehicles, 2013 International Conference on Unmanned Aircraft Systems (ICUAS), pp.974-981, 2013.

A. Albers, S. Trautmann, T. Howard, T. A. Nguyen, M. Frietsch et al., Semi-autonomous flying robot for physical interaction with environment, 2010 IEEE Conference on Robotics, Automation and Mechatronics, pp.441-446, 2010.

M. Fumagalli, R. Naldi, A. Macchelli, F. Forte, A. Q. Keemink et al., Developing an aerial manipulator prototype: Physical interaction with the environment, IEEE Robotics and Automation Magazine, vol.21, issue.3, pp.41-50, 2014.

H. Tsukagoshi, T. Hamada, M. Watanabe, R. Iizuka, and A. Dameitry, Aerial manipulator aimed for door opening mission, 12th IEEE International Symposium on Safety, Security and Rescue Robotics, SSRR 2014 -Symposium Proceedings, pp.3-4, 2014.

C. D. Bellicoso, L. R. Buonocore, V. Lippiello, and B. Siciliano, Design, modeling and control of a 5-DoF light-weight robot arm for aerial manipulation, p.23, 2015.

, MED 2015 -Conference Proceedings, pp.853-858, 2015.

A. E. Jimenez-cano, J. Martin, G. Heredia, A. Ollero, and R. Cano, Control of an aerial robot with multi-link arm for assembly tasks, Proceedings -IEEE International Conference on Robotics and Automation, pp.4916-4921, 2013.

C. Mavroidis, Development of advanced actuators using shape memory alloys and electrorheological fluids, Research in Nondestructive Evaluation, vol.14, issue.1, pp.1-32, 2002.

D. C. Lagoudas, Shape memory alloys: modeling and engineering applications, 2008.

Z. Guo, Y. Pan, L. B. Wee, and H. Yu, Design and control of a novel compliant differential shape memory alloy actuator, Sensors and Actuators A: Physical, vol.225, pp.71-80, 2015.

K. Paul, Development of a robotic manipulator based on Shape Memory Alloy wires, 2018.

M. Elahinia, J. Koo, M. Ahmadian, and C. Woolsey, Backstepping control of a shape memory alloy actuated robotic arm, Modal Analysis, vol.11, issue.3, pp.407-429, 2005.

B. K. Nguyen and K. K. Ahn, Feedforward control of shape memory alloy actuators using fuzzy-based inverse preisach model, IEEE Transactions on control systems technology, vol.17, issue.2, pp.434-441, 2009.

I. D. Landau and G. Zito, Identification and Implementation, 2006.
URL : https://hal.archives-ouvertes.fr/hal-00384402

T. Ikeda, S. Yasui, M. Fujihara, K. Ohara, S. Ashizawa et al., Wall contact by octo-rotor uav with one dof manipulator for bridge inspection, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.5122-5127, 2017.

A. Suarez, P. R. Soria, G. Heredia, B. C. Arrue, and A. Ollero, Anthropomorphic, compliant and lightweight dual arm system for aerial manipulation, p.2017

, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.992-997, 2017.

F. Janzen, A. Tusset, V. Piccirillo, J. Balthazar, and R. Brasil, Motion and vibration control of a slewing flexible structure by sma actuators and parameter sensitivity analysis, The European Physical Journal Special Topics, vol.224, pp.3041-3054, 2015.

J. Lima, A. Tusset, F. Conrad-janzen, V. Piccirillo, C. Nascimento et al., Sdre applied to position and vibration control of a robot manipulator with a flexible link, Journal of Theoretical and Applied Mechanics, vol.54, p.2016

B. Siciliano, Ijars video series: Aerial manipulation, pp.2019-2022

A. Suarez, G. Heredia, and A. Ollero, Lightweight compliant arm for aerial manipulation, Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on, pp.1627-1632, 2015.

A. Rao, A. R. Srinivasa, and J. N. Reddy, Design of shape memory alloy (SMA) actuators, 2015.

A. R. Shahin, P. H. Meckl, J. D. Jones, and M. A. Thrasher, Enhanced cooling of shape memory alloy wires using semiconductor "heat pump" modules, Journal of Intelligent Material Systems and Structures, vol.5, issue.1, pp.95-104, 1994.

V. A. Tabrizi and M. Moallem, Nonlinear position control of antagonistic shape memory alloy actuators, pp.88-93, 2007.

C. Liang and C. A. Rogers, One-dimensional thermomechanical constitutive relations for shape memory materials, Journal of intelligent material systems and structures, vol.1, issue.2, pp.207-234, 1990.

M. H. Elahinia and H. Ashrafiuon, Nonlinear control of a shape memory alloy actuated manipulator, Journal of Vibration and Acoustics, vol.124, issue.4, pp.566-575, 2002.

J. Liu and X. Wang, Advanced Sliding Mode Control for Mechanical Systems: Design, Analysis and MATLAB Simulation, 2011.

I. D. Landau, R. Lozano, M. Saad, and A. Karimi, Adaptive control: algorithms, analysis and applications, 2011.
URL : https://hal.archives-ouvertes.fr/hal-01060312

S. Kannan, S. Bezzaoucha, S. Quintanar-guzmán, M. A. Olivares-mendez, and H. Voos, Adaptive control of robotic arm with hysteretic joint, Proceedings of the 4th International Conference on Control, Mechatronics and Automation, ICCMA '16, pp.46-50, 2016.

A. Martinelli, Nonlinear Unknown Input Observability: The General Analytic Solution, 2017.

T. Imen, Systematic and effective design of nonlinear feedback controllers via the state-dependent riccati equation (sdre) method, Annual Reviews in Control, vol.34, issue.1, pp.32-51, 2010.

. Pwc, Clarity from above, pp.2019-2022, 2016.

M. Orsag, C. Korpela, S. Bogdan, and P. Oh, Valve turning using a dual-arm aerial manipulator, 2014 International Conference on Unmanned Aircraft Systems (ICUAS), pp.836-841, 2014.

J. R. Kutia, K. A. Stol, and W. Xu, Canopy sampling using an aerial manipulator: A preliminary study, 2015 International Conference on Unmanned Aircraft Systems (ICUAS), pp.477-484, 2015.

H. B. Khamseh, F. Janabi-sharifi, and A. Abdessameud, Aerial manipulation-a literature survey, Robotics and Autonomous Systems, vol.107, pp.221-235, 2018.

S. Quintanar-guzmán, S. Kannan, H. Voos, M. Darouach, and M. Alma, Adaptive control for a lightweight robotic arm actuated by a shape memory alloy wire, ACTUATOR 2018 16th International Conference on New Actuators, 2018.

S. Quintanar-guzmán, S. Kannan, H. Voos, M. Darouach, and M. Alma, Experimental validation of adaptive control for a shape memory alloy actuated lightweight robotic arm, ASME. Smart Materials, Adaptive Structures and Intelligent Systems, vol.1

. Modeling, Simulation, and Control of Adaptive Systems; Integrated System Design and Implementation, pp.1-03, 2018.

S. Quintanar-guzmán, S. Kannan, H. Voos, M. Darouach, and M. Alma, Observer design for lightweight robotic arm actuated by shape memory alloy (sma) wire, 14th International Workshop on Advanced Control and Diagnosis, 2017.

S. Quintanar-guzmán, S. Kannan, A. Aguilera-gonzález, M. A. Olivares-mendez, and H. Voos, Operational space control of a lightweight robotic arm actuated by shape memory alloy wires: A comparative study, Journal of Intelligent Material Systems and Structures, vol.30, issue.9, pp.1368-1384, 2019.

S. Quintanar-guzmán, S. Kannan, M. A. Olivares-mendez, and H. Voos, Lightweight robotic arm actuated by shape memory alloy (sma) wires, p.2016

, 8th International Conference on Electronics, Computers and Artificial Intelligence (ECAI), pp.1-6, 2016.

S. Quintanar-guzmán, S. Kannan, M. A. Olivares-mendez, and H. Voos, Operational space control of a lightweight robotic arm actuated by shape memory alloy (sma) wires, ASME. Smart Materials, Adaptive Structures and Intelligent Systems, vol.2, pp.2-03, 2016.

S. Kannan, S. Bezzaoucha, S. Quintanar-guzmán, J. Dentler, M. A. Olivares-mendez et al., Hierarchical control of aerial manipulation vehicle, International Conference on Mathematical Problems in Engineering, vol.1798, p.20069, 2017.

L. A. Van-der-elst, S. Quintanar-guzmán, and J. Hadji-minaglou, Design of an electromechanical prosthetic finger using shape memory alloy wires, 2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS), pp.56-61, 2017.

S. Kannan, S. Quintanar-guzmán, S. Bezzaoucha, M. A. Olivares-mendez, and H. Voos, Adaptive control of hysteretic robotic arm in operational space, Proceedings of the 5th International Conference on Mechatronics and Control Engineering, ICMCE '16, pp.92-96, 2016.

S. Kannan, S. Quintanar-guzmán, J. Dentler, M. A. Olivares-mendez, and H. Voos, Control of aerial manipulation vehicle in operational space, p.2016

, 8th International Conference on Electronics, Computers and Artificial Intelligence (ECAI), pp.1-4, 2016.

L. A. Van-der-elst, Design of an electromechanical prosthetic finger using shape memory alloy wires, 2017.

P. J. Sanchez-cuevas, G. Heredia, and A. Ollero, Multirotor uas for bridge inspection by contact using the ceiling effect, 2017 International Conference on Unmanned Aircraft Systems (ICUAS), pp.767-774, 2017.

F. Augugliaro, S. Lupashin, M. Hamer, C. Male, M. Hehn et al., The flight assembled architecture installation: Cooperative construction with flying machines, IEEE Control Systems Magazine, vol.34, pp.46-64, 2014.

T. W. Danko and P. Y. Oh, Design and control of a hyper-redundant manipulator for mobile manipulating unmanned aerial vehicles, Journal of Intelligent & Robotic Systems, vol.73, issue.1, pp.709-723, 2014.

R. Cano, C. Perez, F. Pruano, A. Ollero, and G. Heredia, Mechanical design of a 6-dof aerial manipulator for assembling bar structures using uavs, 2nd IFAC Workshop on Research, 2013.

T. Zheng, Y. Yang, D. T. Branson, R. Kang, E. Guglielmino et al.,

G. Caldwell and . Yang, Control design of shape memory alloy based multi-arm continuum robot inspired by octopus, 2014 IEEE 9th Conference on Industrial Electronics and Applications (ICIEA), pp.1108-1113, 2014.

Y. H. Teh, Fast , Accurate Force and Position Control of Shape Memory Alloy Actuators, 2008.

J. Ortín and L. Delaey, Hysteresis in shape-memory alloys, International Journal of Non-Linear Mechanics, vol.37, issue.8, pp.1275-1281, 2002.

H. Luo, Y. Liao, E. Abel, Z. Wang, and X. Liu, Hysteresis behaviour and modeling of sma actuators, Shape Memory Alloys, 2010.

K. Ikuta, M. Tsukamoto, and S. Hirose, Mathematical model and experimental verification of shape memory alloy for designing micro actuator, 1991.

, Proceedings. IEEE Micro Electro Mechanical Systems, pp.103-108, 1991.

C. Lexcellent, Shape-memory alloys handbook, 2013.

J. Qiu, J. Tani, D. Osanai, Y. Urushiyama, and D. Lewinnek, High-speed response of sma actuators, International Journal of Applied Electromagnetics and Mechanics, vol.12, issue.1, pp.87-100, 2000.

M. Sreekumar, M. Singaperumal, T. Nagarajan, M. Zoppi, and R. Molfino, Recent advances in nonlinear control technologies for shape memory alloy actuators, Journal of Zhejiang University-Science A, vol.8, issue.5, pp.818-829, 2007.

S. Zaidi, F. Lamarque, J. Favergeon, O. Carton, and C. Prelle, Nitinol thin foil irradiated by continuous mode laser diode for wireless chromatic micro-actuation, Mechatronics, 2009. ICM 2009. IEEE International Conference on, pp.1-6, 2009.
URL : https://hal.archives-ouvertes.fr/hal-01911369

R. Romano and E. A. Tannuri, Modeling, control and experimental validation of a novel actuator based on shape memory alloys, Mechatronics, vol.19, issue.7, pp.1169-1177, 2009.

C. W. Müller, R. Pfeifer, T. El-kashef, C. Hurschler, D. Herzog et al., Electromagnetic induction heating of an orthopaedic nickel-titanium shape memory device, Journal of Orthopaedic Research, vol.28, issue.12, pp.1671-1676, 2010.

D. Reynaerts and H. Van-brussel, Design aspects of shape memory actuators, Mechatronics, vol.8, issue.6, pp.635-656, 1998.

K. O'toole, A Methodology Towards Comprehensive Evaluation of Shape Memory Alloy Actuators for Prosthetic Finger Design, 2011.

J. J. Craig, Introduction to robotics: mechanics and control, vol.3, 2005.

A. Khodayari, M. Talari, and M. M. Kheirikhah, Fuzzy pid controller design for artificial finger based sma actuators, 2011 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE 2011, pp.727-732, 2011.

J. Colorado, A. Barrientos, and C. Rossi, Músculos inteligentes en robots biológicamente inspirados: Modelado, control y actuación, Revista Iberoamericana de Automática e Informática Industrial RIAI, vol.8, issue.4, pp.385-396, 2011.

F. Gao, Z. Wang, Y. Wang, Y. Wang, and J. Li, A prototype of a biomimetic mantle jet propeller inspired by cuttlefish actuated by sma wires and a theoretical model for its jet thrust, Journal of Bionic Engineering, vol.11, issue.3, pp.412-422, 2014.

B. H. Shin, K. Lee, and S. Lee, A miniaturized tadpole robot using an electromagnetic oscillatory actuator, Journal of Bionic Engineering, vol.12, issue.1, pp.29-36, 2015.

F. Nematzadeh and S. Sadrnezhaad, Effects of material properties on mechanical performance of nitinol stent designed for femoral artery: Finite element analysis, Scientia Iranica, vol.19, issue.6, pp.1564-1571, 2012.

A. Nespoli, V. Dallolio, E. Villa, and F. Passaretti, A new design of a nitinol ringlike wire for suturing in deep surgical field, Materials Science and Engineering C, vol.56, pp.30-36, 2015.

M. T. Andani, W. Anderson, and M. Elahinia, Design, modeling and experimental evaluation of a minimally invasive cage for spinal fusion surgery utilizing superelastic nitinol hinges, Journal of intelligent material systems and structures, vol.26, issue.6, pp.631-638, 2015.

M. G. Mataee, M. T. Andani, and M. Elahinia, Adaptive ankle-foot orthoses based on superelasticity of shape memory alloys, Journal of intelligent material systems and structures, vol.26, issue.6, pp.639-651, 2015.

N. S. Moghaddam, R. Skoracki, M. Miller, M. Elahinia, and D. Dean, Three dimensional printing of stiffness-tuned, nitinol skeletal fixation hardware with an example of mandibular segmental defect repair, Procedia CIRP, vol.49, pp.45-50, 2016.

J. Jafari, S. Zebarjad, and S. Sajjadi, Effect of pre-strain on microstructure of ni-ti orthodontic archwires, Materials Science and Engineering A, vol.473, issue.1-2, pp.42-48, 2008.

N. Pandis and C. P. Bourauel, Nickel-titanium (niti) arch wires: the clinical significance of super elasticity, Seminars in Orthodontics, vol.16, issue.4, pp.249-257, 2010.

H. Rodrigue, S. Cho, M. Han, B. Bhandari, J. Shim et al., Effect of twist morphing wing segment on aerodynamic performance of uav, Journal of Mechanical Science and Technology, vol.30, issue.1, pp.229-236, 2016.

S. Barbarino, S. Ameduri, L. Lecce, and A. Concilio, Wing shape control through an sma-based device, Journal of intelligent material systems and structures, vol.20, issue.3, pp.283-296, 2009.

D. K. Kennedy, F. K. Straub, L. M. Schetky, Z. Chaudhry, and R. Roznoy, Development of an sma actuator for in-flight rotor blade tracking, Journal of intelligent material systems and structures, vol.15, issue.4, pp.235-248, 2004.

M. Sreekumar, T. Nagarajan, and M. Singaperumal, Application of trained niti sma actuators in a spatial compliant mechanism: Experimental investigations, Materials & Design, vol.30, issue.8, pp.3020-3029, 2009.

H. Son, M. Y. Kim, and Y. Lee, Tunable-focus liquid lens system controlled by antagonistic winding-type sma actuator, Optics Express, vol.17, pp.14339-14350, 2009.

E. A. Williams, G. Shaw, and M. Elahinia, Control of an automotive shape memory alloy mirror actuator, Mechatronics, vol.20, issue.5, pp.527-534, 2010.

S. Quintanar-guzmán, J. Reyes-reyes, and M. D. Arellano-sánchez, Modelado y control de un sistema electrotérmico-mecánico móvil basado en alambres musculares, XVI Congreso Latinoamericano de Control Automático, pp.834-839, 2014.

M. Hulea and C. F. Caruntu, Spiking neural network for controlling the artificial muscles of a humanoid robotic arm, 2014 18th International Conference on System Theory, Control and Computing (ICSTCC), pp.163-168, 2014.

J. Ko, M. B. Jun, G. Gilardi, E. Haslam, and E. J. Park, Fuzzy pwm-pid control of cocontracting antagonistic shape memory alloy muscle pairs in an artificial finger, Mechatronics, vol.21, issue.7, pp.1190-1202, 2011.

M. C. Carrozza, A. Arena, D. Accoto, A. Menciassi, and P. Dario, A sma actuated miniature pressure regulator for a miniature robot for colonoscopy, Sensors and Actuators A: Physical, vol.105, issue.2, pp.119-131, 2003.

W. Makishi, T. Matunaga, Y. Haga, and M. Esashi, Active bending electric endoscope using shape memory alloy coil actuators, The First IEEE/RAS-EMBS International Conference on, pp.217-219, 2006.

J. C. Hannen, J. H. Crews, and G. D. Buckner, Indirect intelligent sliding mode control of a shape memory alloy actuated flexible beam using hysteretic recurrent neural networks, Smart Materials and Structures, vol.21, issue.8, p.85015, 2012.

S. Choi, Y. Han, J. Kim, and C. Cheong, Force tracking control of a flexible gripper featuring shape memory alloy actuators, Mechatronics, vol.11, issue.6, pp.677-690, 2001.

S. K. Chaitanya and K. Dhanalakshmi, Control of shape memory alloy actuated gripper using sliding mode control, Control Applications (CCA), 2013 IEEE International Conference on, pp.1247-1252, 2013.

C. Lin, C. Fan, and C. Lan, A shape memory alloy actuated microgripper with wide handling ranges, IEEE/ASME International Conference on, pp.12-17, 2009.

S. Kannan, C. Giraud-audine, and E. Patoor, Laguerre model based adaptive control of antagonistic shape memory alloy (sma) actuator, Proc. SPIE 7643, Active and Passive Smart Structures and Integrated Systems, vol.7643, pp.764307-764307, 2010.

S. Kannan, C. Giraud-audine, and E. Patoor, Application of laguerre based adaptive predictive control to shape memory alloy (sma) actuator, ISA Transactions, vol.52, issue.4, pp.469-479, 2013.
URL : https://hal.archives-ouvertes.fr/hal-01500660

S. Kannan, Modélisation et Commande dActionneursà Alliageà Mémoire de Forme. PhD thesis, l'École Nationale Supérieure d'Arts et Métiers, 2011.

A. Khandelwal and V. Buravalla, Models for shape memory alloy behavior: an overview of modeling approaches, The International Journal of Structural Changes in Solids, vol.1, issue.1, pp.111-148, 2009.

D. Hughes and J. T. Wen, Preisach modeling of piezoceramic and shape memory alloy hysteresis, Smart materials and structures, vol.6, p.287, 1997.

B. Choi and Y. Lee, Preisach model of sma actuators using proportional relationship of major loop of hysteresis, IEEE/RSJ International Conference on, vol.2, 1986.

X. Tan and J. S. Baras, Adaptive identification and control of hysteresis in smart materials, IEEE Transactions on automatic control, vol.50, issue.6, pp.827-839, 2005.

K. K. Ahn and N. B. Kha, Internal model control for shape memory alloy actuators using fuzzy based preisach model, Sensors and Actuators A: Physical, vol.136, issue.2, pp.730-741, 2007.

S. M. Dutta and F. H. Ghorbel, Differential hysteresis modeling of a shape memory alloy wire actuator, IEEE/ASME Transactions on Mechatronics, vol.10, issue.2, pp.189-197, 2005.

A. Visintin, Differential models of hysteresis, vol.111, 2013.

M. Sjöström and C. Visone, moving" prandtl-ishilinskii operators with compensator in a closed form, Physica B: Condensed Matter, vol.372, issue.1, pp.97-100, 2006.

P. Gédouin, C. Join, E. Delaleau, J. Bourgeot, S. A. Chirani et al., A new control strategy for shape memory alloys actuators, European Symposium on Martensitic Transformations, p.7007, 2009.

Y. H. Teh and R. Featherstone, Accurate force control and motion disturbance rejection for shape memory alloy actuators, Robotics and Automation, 2007.

, IEEE International Conference on, pp.4454-4459, 2007.

F. Falk, Model free energy, mechanics, and thermodynamics of shape memory alloys, Acta Metallurgica, vol.28, issue.12, pp.1773-1780, 1980.

C. Cisse, W. Zaki, and T. B. Zineb, A review of constitutive models and modeling techniques for shape memory alloys, International Journal of Plasticity, vol.76, pp.244-284, 2016.
URL : https://hal.archives-ouvertes.fr/hal-01415862

F. Fischer and K. Tanaka, A micromechanical model for the kinetics of martensitic transformation, International Journal of Solids and Structures, vol.29, issue.14, pp.1723-1728, 1992.

M. Brocca, L. Brinson, and Z. Ba?ant, Three-dimensional constitutive model for shape memory alloys based on microplane model, Journal of the Mechanics and Physics of Solids, vol.50, issue.5, pp.1051-1077, 2002.

A. C. Souza, E. N. Mamiya, and N. Zouain, Three-dimensional model for solids undergoing stress-induced phase transformations, European Journal of Mechanics -A/Solids, vol.17, issue.5, pp.789-806, 1998.

J. Boyd and D. Lagoudas, A thermodynamical constitutive model for shape memory materials. part i. the monolithic shape memory alloy, International Journal of Plasticity, vol.12, issue.6, pp.805-842, 1996.

W. Zaki and Z. Moumni, A three-dimensional model of the thermomechanical behavior of shape memory alloys, Journal of the Mechanics and Physics of Solids, vol.55, issue.11, pp.2455-2490, 2007.

B. Peultier, T. B. Zineb, and E. Patoor, Macroscopic constitutive law of shape memory alloy thermomechanical behaviour. application to structure computation by fem, Mechanics of Materials, vol.38, issue.5, pp.510-524, 2006.
URL : https://hal.archives-ouvertes.fr/hal-01769307

S. Leclercq and C. Lexcellent, A general macroscopic description of the thermomechanical behavior of shape memory alloys, Journal of the Mechanics and Physics of Solids, vol.44, issue.6, pp.953-980, 1996.

J. Lubliner and F. Auricchio, Generalized plasticity and shape-memory alloys, International Journal of Solids and Structures, vol.33, issue.7, pp.991-1003, 1996.

A. Masud, M. Panahandeh, and F. Aurrichio, A finite-strain finite element model for the pseudoelastic behavior of shape memory alloys, Computer Methods in Applied Mechanics and Engineering, vol.148, issue.1, pp.23-37, 1997.

A. Bhattacharyya and D. Lagoudas, A stochastic thermodynamic model for the gradual thermal transformation of sma polycrystals, Smart materials and structures, vol.6, p.235, 1997.

K. Ikuta, Micro/miniature shape memory alloy actuator, IEEE International Conference on, p.2156, 1990.

D. R. Madill and D. Wang, The modelling and l/sub 2/-stability of a shape memory alloy position control system, IEEE International Conference on, pp.293-299, 1994.

K. Tanaka, A thermomechanical sketch of shape memory effect: one-dimensional tensile behavior, Res. Mechanica, vol.18, pp.251-263, 1986.

L. C. Brinson, One-dimensional constitutive behavior of shape memory alloys: thermomechanical derivation with non-constant material functions and redefined martensite internal variable, Journal of intelligent material systems and structures, vol.4, issue.2, pp.229-242, 1993.

K. Ikuta, M. Tsukamoto, and S. Hirose, Shape memory alloy servo actuator system with electric resistance feedback and application for active endoscope, Proceedings. 1988 IEEE International Conference on Robotics and Automation, vol.1, pp.427-430, 1988.

V. Novák, P. ?ittner, G. Dayananda, F. Braz-fernandes, and K. Mahesh, Electric resistance variation of niti shape memory alloy wires in thermomechanical tests: Experiments and simulation, Proceedings of the 7th European Symposium on Martensitic Transformations, pp.127-133, 2006.

M. S. De-queiroz, D. M. Dawson, S. P. Nagarkatti, and F. Zhang, Lyapunov-based control of mechanical systems, 2012.

L. Ljung, System identification toolbox for use with matlab, The Mathworks Inc, 2006.

O. K. Rediniotis, L. N. Wilson, D. C. Lagoudas, and M. M. Khan, Development of a shape-memory-alloy actuated biomimetic hydrofoil, Journal of Intelligent Material Systems and Structures, vol.13, issue.1, pp.35-49, 2002.

N. Troisfontaine, P. Bidaud, and P. Dario, Control experiments on two sma based micro-actuators, Experimental Robotics V, pp.490-499, 1998.

N. Ma and G. Song, Control of shape memory alloy actuator using pulse width modulation, Smart materials and structures, vol.12, p.712, 2003.

M. Ho and J. P. Desai, Towards a mri-compatible meso-scale sma-actuated robot using pwm control, Biomedical Robotics and Biomechatronics (BioRob), 2010.

, 3rd IEEE RAS and EMBS International Conference on, pp.361-366, 2010.

A. Khodayari, M. M. Kheirikhah, and S. Rabiee, Fuzzy pid controller design for snake robot based sma actuators, Control System, Computing and Engineering (ICCSCE), 2011 IEEE International Conference on, pp.274-278, 2011.

J. Wang, C. Fan, and C. Lan, A compact rotational manipulator using shape memory alloy wire actuated flexures, Robotics and Automation, 2009. ICRA'09. IEEE International Conference on, pp.550-555, 2009.

Z. Shi, T. Wang, D. Liu, C. Ma, and X. Yuan, A fuzzy pid-controlled sma actuator for a two-dof joint, Chinese Journal of Aeronautics, vol.27, issue.2, pp.453-460, 2014.

M. H. Elahinia and M. Ahmadian, Application of the extended kalman filter to control of a shape memory alloy arm, Smart materials and structures, vol.15, p.1370, 2006.

D. Grant and V. Hayward, Variable structure control of shape memory alloy actuators, IEEE Control Systems Magazine, vol.17, issue.3, pp.80-88, 1997.

J. H. Wiest and G. D. Buckner, Indirect intelligent sliding mode control of antagonistic shape memory alloy actuators using hysteretic recurrent neural networks, IEEE Transactions on Control Systems Technology, vol.22, issue.3, pp.921-929, 2014.

J. Lee, M. Jin, and K. K. Ahn, Precise tracking control of shape memory alloy actuator systems using hyperbolic tangential sliding mode control with time delay estimation, Mechatronics, vol.23, issue.3, pp.310-317, 2013.

K. Arai, S. Aramaki, and K. Yanagisawa, Feedback linearization for sma (shape memory alloy), SICE'95. Proceedings of the 34th SICE Annual Conference. International Session Papers, pp.1383-1386, 1995.

Y. Pan, Z. Guo, X. Li, and H. Yu, Output-feedback adaptive neural control of a compliant differential sma actuator, IEEE Transactions on Control Systems Technology, issue.99, pp.1-9, 2017.

L. Riccardi, D. Naso, B. Turchiano, and H. Janocha, Adaptive control of positioning systems with hysteresis based on magnetic shape memory alloys, IEEE Transactions on Control Systems Technology, vol.21, issue.6, pp.2011-2023, 2013.

Y. Wang, C. Su, and H. Hong, Model reference control including adaptive inverse hysteresis for systems with unknown input hysteresis," in Networking, Sensing and Control, IEEE International Conference on, pp.70-75, 2007.

Y. Feng, C. A. Rabbath, H. Hong, C. Su, and W. Lin, Inverse hysteresis control for shape memory alloy micro-actuators based flap positioning system, Decision and Control (CDC), 2010 49th IEEE Conference on, pp.3662-3667, 2010.

G. Song, V. Chaudhry, and C. Batur, A neural network inverse model for a shape memory alloy wire actuator, Journal of intelligent material systems and structures, vol.14, issue.6, pp.371-377, 2003.

V. Hassani, T. Tjahjowidodo, and T. N. Do, A survey on hysteresis modeling, identification and control, Mechanical Systems and Signal Processing, vol.49, issue.1-2, pp.209-233, 2014.

K. D. Young, V. I. Utkin, and U. Ozguner, A control engineer's guide to sliding mode control, IEEE Transactions on Control Systems Technology, vol.7, issue.3, pp.328-342, 1999.

H. Mai, G. Song, and X. Liao, Adaptive online inverse control of a shape memory alloy wire actuator using a dynamic neural network, Smart Materials and Structures, vol.22, issue.1, p.15001, 2013.

N. T. Tai and K. K. Ahn, Output feedback direct adaptive controller for a sma actuator with a kalman filter, IEEE Transactions on Control Systems Technology, vol.20, pp.1081-1091, 2012.

M. S. Queiroz, D. M. Dawson, S. P. Nagarkatti, and F. Zhang, Lyapunov-Based Control of Mechanical Systems, 2000.

M. H. Elahinia, M. Ahmadian, and H. Ashrafiuon, Design of a kalman filter for rotary shape memory alloy actuators, Smart Materials and Structures, vol.13, issue.4, p.691, 2004.

I. Hassanzadeh, N. Nikdel, and N. Motlagh, Design of Augmented Ekf for Shape Memory Alloy Actuated Manipulator, International Journal of Engineering Science and Technology, vol.2, issue.7, pp.3188-3198, 2010.

M. L. Guckert, M. D. Naish, and R. V. Patel, Position control of a spherical joint using feedback linearization for sma wire actuators, Advanced Intelligent Mechatronics (AIM), 2010 IEEE/ASME International Conference on, pp.1350-1355, 2010.

A. Ianagui and E. A. Tannuri, A sliding mode torque and position controller for an antagonistic SMA actuator, Mechatronics, vol.30, pp.126-139, 2015.

H. Gurung and A. Banerjee, Self-sensing SMA Actuator Using Extended Kalman Filter and Artificial Neural Network, Procedia Engineering, vol.144, pp.629-634, 2016.

S. Jabeen, A. V. Yeganeh, G. M. Simsek, G. G. Yapici, K. Abidi et al., Discrete-Time Integral Sliding Mode Control of a Smart Joint for Minimally Invasive Surgeries, 6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), 2016.

K. Kubik, A. Gurley, D. Beale, and A. Skalitzky, Linear parameter varying modeling and estimation of a sma wire actuator, ASME 2018 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, pp.1-03, 2018.

H. K. Khalil and J. Grizzle, Nonlinear systems, vol.3, 2002.

K. C. Veluvolu and S. Y. Chai, High gain observers with multiple sliding mode for state and unknown input estimations, 4th IEEE Conference on Industrial Electronics and Applications, vol.56, pp.1179-1186, 2009.

A. Aguilera-gonzález, H. Voos, and M. Darouach, States and unknown input estimation via non-linear sliding mode high-gain observers for a glucose-insulin system, 2016 IEEE EMBS Conference on Biomedical Engineering and Sciences (IECBES), pp.388-393, 2016.

M. Witczak, Fault diagnosis and fault-tolerant control strategies for non-linear systems, Lecture Notes in Electrical Engineering, vol.266, pp.375-392, 2014.

M. M. Barzegari, M. Dardel, and A. Fathi, Control of aeroelastic characteristics of cantilever wing with smart materials using state-dependent riccati equation method, Journal of Intelligent Material Systems and Structures, vol.26, issue.8, pp.988-1005, 2015.

A. S. Dutka, A. W. Ordys, and M. J. Grimble, Optimized discrete-time state dependent riccati equation regulator, Proceedings of the 2005, vol.4, pp.2293-2298, 2005.

T. Imen, State-dependent riccati equation (sdre) control: A survey, IFAC Proceedings Volumes, vol.41, pp.3761-3775, 2008.

J. R. Cloutier and J. C. Cockburn, The state-dependent nonlinear regulator with state constraints, Proceedings of the 2001 American Control Conference. (Cat. No.01CH37148), vol.1, pp.390-395, 2001.