Abstract
AbstractThe ultrasonic motor has comparatively high nonlinearity which varies with driving conditions, and possesses a variable dead zone in control input associated with the applied load torque. The dead zone is a problem for industrial applications and it is important to eliminate the dead zone in order to improve control performance. This paper proposes a new position control scheme for ultrasonic motors to overcome the dead zone. The dead zone is compensated by fuzzy inference, and backstepping control performs accurate position control. Compared with model reference adaptive control, which uses an augmented error, backstepping control can analyze a transient response. Mathematical models are formulated and experimental results show the effectiveness of the proposed position control scheme. © 2004 Wiley Periodicals, Inc. Electr Eng Jpn, 149(1): 69–77, 2004; Published online in Wiley InterScience (www.interscience.wiley.com). DOI 10.1002/eej.20016
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