Adaptive Recurrent Cerebellar Model ArticulationController Design for Linear Ultrasonic Motor via H∞ Control Technique

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 adaptive recurrent cerebellar model articulation controller (RCMAC) with a guaranteed H∞ performance is proposed for the motion control of the LUSM to track periodic reference trajectories. In this study, the proposed dynamic structure of RCMAC has superior capability to the conventional static cerebellar model articulation controller (CMAC) in efficient learning mechanism and dynamic response. The control laws for the adaptive RCMAC control system are derived based on the H∞ control technique and the Lyapunov stability analysis, so that system-tracking stability can be guaranteed in the closed-loop system. By using the proposed adaptive RCMAC control system, the controlled LUSM possesses the advantages of good tracking control performance and robustness to uncertainties under wide operating ranges. The effectiveness of the proposed control system is verified with hardware experiments under the occurrence of uncertainties.