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首页> 外文会议>2011 IEEE International Conference on Control Applications >Robust dynamics wavelet-based cerebellar model articulation controller design for linear ultrasonic motors
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Robust dynamics wavelet-based cerebellar model articulation controller design for linear ultrasonic motors

机译：基于鲁棒动力学小波的线性超声电机小脑模型关节控制器设计

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摘要

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.
机译：由于线性超声波马达（LUSM）的动态特性是高度非线性且随时间变化的，因此很难设计合适的马达位置控制器来始终实现高精度的位置控制。智能鲁棒跟踪控制（IRTC）系统采用了基于动力学小波的小脑模型关节控制器（DWCMAC），用于LUSM。 DWCMAC的动态结构在有效的学习机制和动态响应方面具有优于常规静态小脑模型关节控制器（CMAC）的能力。在IRTC设计中，采用泰勒线性化技术来提高DWCMAC的学习能力，并基于Lyapunov稳定性分析，滑模控制方法和H“控制技术推导了在线自适应律，从而使DWCMAC的稳定性提高。闭环系统和H“跟踪性能可以得到保证。然后，通过LUSM运动控制实验验证了所提出控制系统的有效性。实验结果表明，使用提出的IRTC系统可以实现高精度的跟踪性能。

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