NDLI: Robust dynamics wavelet-based cerebellar model articulation controller design for linear ultrasonic motors

Content Provider	IEEE Xplore Digital Library
Author	Ya-Fu Peng Cheng-Han Li Jonqlan Lin
Copyright Year	2011
Description	Author affiliation: Department of Electrical Engineering, Ching-Yun University, Chungli, Taoyuan, 320, Taiwan, R.O.C. (Ya-Fu Peng) \|\| Department of Mechanical Engineering, Ching-Yun University, Chungli, Taoyuan, 320, Taiwan, R.O.C. (Jonqlan Lin)
Abstract	Since the dynamic characteristics of the linear ultrasonic motor (LUSM) are highly nonlinear and time varying, it is difficult to design a suitable motor position controller to achieve high-precision position control at all time. An intelligent robust tracking control (IRTC) system employs a dynamics wavelet-based cerebellar model articulation controller (DWCMAC) is developed for LUSMs. The dynamic structure of DWCMAC has superior capability to the conventional static cerebellar model articulation controller (CMAC) in efficient learning mechanism and dynamic response. In the IRTC design, the Taylor linearization technique is employed to increase the learning ability of DWCMAC and the on-line adaptive laws are derived based on the Lyapunov stability analysis, the sliding mode control methodology and the H" control technique so that the stability of the closed-loop system and H" tracking performance can be guaranteed. Then, the effectiveness of the proposed control system is verified by the experiments of LUSM motion control. Experimental results show that high-precision tracking performance can be achieved by using the proposed IRTC system.
Starting Page	483
Ending Page	488
File Size	1153710
Page Count	6
File Format	PDF
ISBN	9781457710629
ISSN	10851992
e-ISBN	9781457710636
e-ISBN	9781457710612
DOI	10.1109/CCA.2011.6044359
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-09-28
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Nonlinear dynamical systems Aerospace electronics Robustness Artificial intelligence Equations Optimal control
Content Type	Text
Resource Type	Article

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