Name
Abstract | ||
|---|---|---|
Ultrasonic motors (USMs) are widely used in many applications that precise and fast motions are required, such as precision machines and medical devices, etc. In this paper, a USM-driven ear surgical device is introduced. To address the control challenges of the USM, an intelligent controller consisting of a cerebellar model articulation controller (CMAC) and a sliding mode compensator (SMC) is designed. Therein, the CMAC serves as the main controller due to its fast learning ability while the SMC is used to eliminate the approximation error between the CMAC and the desired perfect controller. Several experiments are carried out to validate the effectiveness of the proposed control scheme, and the results show that the proposed control scheme is able to achieve good tracking performance and guaranteed robustness. |
Year | DOI | Venue |
|---|---|---|
2018 | 10.1109/IECON.2018.8591047 | IECON 2018 - 44TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY |
Keywords | Field | DocType |
motion control, ultrasonic motor, intelligent control, surgical device | Ultrasonic motor,Control theory,Motion control,Control theory,Control engineering,Cerebellar model articulation controller,Robustness (computer science),Engineering,Artificial neural network,Robot,Approximation error | Conference |
ISSN | Citations | PageRank |
1553-572X | 0 | 0.34 |
References | Authors | |
0 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Wenyu Liang | 1 | 20 | 11.00 |
| Su-Nan Huang | 2 | 505 | 61.65 |
| Jun Ma | 3 | 0 | 0.34 |
| Kok Kiong Tan | 4 | 923 | 99.57 |