Position Control of Ultrasonic Motor Using IMC-PID Combined with Tribes Type NN Algorithm

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.

• Periodical: Advanced Engineering Forum (Volumes 2-3)
• Pages: 12-17
• DOI: https://doi.org/10.4028/www.scientific.net/AEF.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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