Paper Title:
Position Control of Ultrasonic Motor Using IMC-PID Combined with Tribes Type NN Algorithm
| Periodical | Advanced Engineering Forum OPEN ACCESS (Volumes 2 - 3) |
|---|---|
| Main Theme | Mechatronics and Information Technology |
| Edited by | Qingkai Han, Kazuhiko Takahashi, Chang-Hyun Oh and Zhong Luo |
| Pages | 12-17 |
| DOI | 10.4028/www.scientific.net/AEF.2-3.12 |
| Citation | Sheng Lin Mu et al., 2011, Advanced Engineering Forum OPEN ACCESS, 2-3, 12 |
| Online since | December, 2011 |
| Authors | Sheng Lin Mu, Kanya Tanaka |
| Keywords | IMC-PID Control, Neural Network (NN), Parameter-Free, Particle Swarm Optimization Algorithm (PSO), Tribes-PSO, Ultrasonic Motor |
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Abstract
In this paper, we propose a novel scheme of IMC-PID control combined with a tribes type neural network (NN) for the position control of ultrasonic motor (USM). In this method, the NN controller is employed for tuning the parameter in IMC-PID control. The weights of NN are designed to be updated by the tribes-particle swarm optimization (PSO) algorithm. This method makes it possible to compensate for the characteristic changes and nonlinearity of USM. The parameter-free tribes-PSO requires no information about the USM beforehand; hence its application overcomes the problem of Jacobian estimation in the conventional back propagation (BP) method of NN. The effectiveness of the proposed method is confirmed by experiments.
