Please use this identifier to cite or link to this item: https://doi.org/10.1109/PESC.2004.1354856
Title: Position tracking performance enhancement of linear ultrasonic motor using iterative learning control
Authors: Mainali, K.
Panda, S.K. 
Xu, J.X. 
Senjyu, T.
Issue Date: 2004
Source: Mainali, K.,Panda, S.K.,Xu, J.X.,Senjyu, T. (2004). Position tracking performance enhancement of linear ultrasonic motor using iterative learning control. PESC Record - IEEE Annual Power Electronics Specialists Conference 6 : 4844-4849. ScholarBank@NUS Repository. https://doi.org/10.1109/PESC.2004.1354856
Abstract: The highly nonlinear characteristics of the ultrasonic motors have posed problems for its high precision position control. There are two ways to tackle the nonlinearities in the system: (a) make use of advanced nonlinear position control schemes to compensate for the nonlinearities as a whole or (b) compensate the nonlinearities partially by providing a suitable feed-forward signal and then make use of a linear feedback controller for the outer loop position control. In this paper, nonlinearity introduced due to deadzone is first compensated using a feed-forward signal and position control of the linear ultrasonic motor(LUSM) is carried out using a conventional PI position controller. The performance of such a closed loop control system is evaluated experimentally. The performance comparable to those that can be obtained using computationally intensive non-linear control schemes proposed in [9]-[11] can be obtained using linear controllers. Though PI position controller exhibits very good set-point tracking, its performance deteriorates in case of the load variation or for tracking time varying references. In order to improve the tracking performance a robust sliding mode controller is then implemented. Experimental results obtained validate the improved tracking performance in comparison with PI position controller. For periodic reference position tracking the sliding mode controller exhibits periodic tracking error profile. For further improving the tracking performance an iterative learning control is augmented to the sliding mode controller. Experimental test results obtained show that the periodic tracking error can be suppressed by a factor of ten using the proposed iterative learning control scheme.
Source Title: PESC Record - IEEE Annual Power Electronics Specialists Conference
URI: http://scholarbank.nus.edu.sg/handle/10635/71474
ISBN: 0780383990
ISSN: 02759306
DOI: 10.1109/PESC.2004.1354856
Appears in Collections:Staff Publications

Show full item record
Files in This Item:
There are no files associated with this item.

SCOPUSTM   
Citations

9
checked on Dec 5, 2017

Page view(s)

11
checked on Dec 9, 2017

Google ScholarTM

Check

Altmetric


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.