Transactions of the Institute of Systems, Control and Information Engineers
Online ISSN : 2185-811X
Print ISSN : 1342-5668
ISSN-L : 1342-5668
Robust Speed Control of Ultrasonic Motors via Gain-Scheduled H Control on Stator Vibration Amplitude
Yasuhide KOBAYASHITetsuya KIMURAShigeo YANABE
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2002 Volume 15 Issue 8 Pages 430-437

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Abstract

This paper deals with a controller synthesis problem for precise speed control systems of ultrasonic motors (USMs) considering nonlinear characteristics of USMs. For this problem, we firstly propose a parameter varying plant model which represents the nonlinear characteristics by using information of amplitude of stator vibration as a model parameters. Secondly, to provide higher performance for the systems, we design a parameter varying controller in a systematic way by applying gain-scheduled H control technique for the parameter varying plant model. In addition, control experiments show the validity of the proposed method.

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