Intelligent tracking control for linear ultrasonic motor using H/sup /spl infin// control technique

Since the dynamic characteristics of linear ultrasonic motor (LUSM) are highly nonlinear and time varying and the model is difficult to obtain, it is difficult to design a suitable controller to achieve high-precision position control by using the conventional control techniques. An intelligent tracking control system using an adaptive recurrent cerebellar model articulation controller (RCMAC) is proposed for the motion control of the LUSM. The control laws of the intelligent tracking control system are derived based on the H
^infin
control technique, so that the robust tracking performance can be achieved. The effectiveness of the proposed control system is verified with hardware experiments under the occurrence of uncertainties. In addition, the advantages of the proposed control scheme are indicated in comparison with a traditional integral-proportional (IP) position control system