Intelligent control of USM using a modified NN with PSO

Abstract

As aging society problem goes severe In not only Japan but also the whole world, more and more attentions are attracted to the social and welfare fields. Many researches on science and technology for elders are implemented in rencent years. With the background, there are a lot of needs for techonologies with novel features for improvement. In this paper, a control method with attractive features for the actuator of Ultrasonic Motors (USMs) is introduced. In medical and welfare areas, the USMs are expected to play more important roles owing to their special characteristics. In this research, an intelligent PID control method using Neural Network (NN) combined with type Particle Swarm Optimization (PSO) is developed for the control of USM. In the method, the intelligent controller is designed based on variable gain type PID control using NN. The learning of the NN unit is implemented by the PSO. The gains of PID control are adjusted by the proposed method in real-time. The effectiveness of the method is verified by experimental results.