Positioning Control of Ultrasonic Motor Using Homogeneous Finite-Time Control
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- Nishimura Yûki
- Graduate School of Science and Engineering, Kagoshima University
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- Yoshino Hiroyuki
- Graduate School of Science and Engineering, Kagoshima University
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- Tanaka Kanya
- Graduate School of Science and Engineering, Yamaguchi University
Bibliographic Information
- Other Title
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- 同次有限時間整定制御による超音波モータの位置決め制御
- ドウ ジ ユウゲン ジカン セイテイ セイギョ ニ ヨル チョウオンパ モータ ノ イチギメ セイギョ
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Abstract
<p>Ultrasonic motors are available for the construction of precise positioning servo systems because of having high holding torque. However, deriving their dynamical models are generally difficult due to the complicated physical structures and a specific driving principle. Especially, their transient states in driving at high velocities need higher-order system models that are generally make the problems more difficult. In this paper, we provide a second-order linear system model for a ultrasonic motor by taking nonlinearity of steady-states into account. The modeling errors of transient states are compensated by a finite-time stabilizer based on homogeneous control Lyapunov functions. Then,after tuning the control parameters via computer simulation, we show the effectiveness of our servo system by comparing simulation and experimental results.</p>
Journal
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- Transactions of the Institute of Systems, Control and Information Engineers
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Transactions of the Institute of Systems, Control and Information Engineers 29 (6), 235-241, 2016
THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE)
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Details 詳細情報について
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- CRID
- 1390001205168302336
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- NII Article ID
- 130005414950
- 40020851737
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- NII Book ID
- AN1013280X
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- ISSN
- 2185811X
- 13425668
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- NDL BIB ID
- 027422918
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- Abstract License Flag
- Disallowed