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|Title:||Robust precision positioning control on linear ultrasonic motor|
|Citation:||Nguyen, M.H.-T.,Tan, K.K.,Liang, W.,Teo, C.S. (2013). Robust precision positioning control on linear ultrasonic motor. 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013 : 170-175. ScholarBank@NUS Repository. https://doi.org/10.1109/AIM.2013.6584087|
|Abstract:||Ultrasonic motors used in high-precision mechatronics are characterized by strong frictional effects, which are among the main problems in precision motion control. The traditional methods apply model-based nonlinear feedforward to compensate the friction, thus requiring closed-loop stability and safety constraint considerations. Implementation of these methods requires computation power. This paper introduces a systematic approach using piecewise affine models to emulate the friction effect of the motor motion. The well-known model predictive control method is employed to deal with piecewise affine models. The increased complexity of the model offers a higher tracking precision on a simpler gain scheduling scheme. © 2013 IEEE.|
|Source Title:||2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013|
|Appears in Collections:||Staff Publications|
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