2013/05/28 by Minh H-T Nguyen, Kok Kiong Tan, Nguyen, Minh H-T +5
Engineering · #FOS: Electrical engineering #Hydraulic and Pneumatic Systems #Iterative Learning Control Systems #Piezoelectric Actuators and Control #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.1305.6379
openalex publication_date 2013/05/28 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
Ultrasonic motors used in high-precision mechatronics are characterized by strong frictional effects, which are among the main problems in precision motion control. The traditional methods apply model-based nonlinear feedforward to compensate the friction, thus requiring closed-loop stability and safety constraint considerations. Implementation of these methods requires complex designed experiments. This paper introduces a systematic approach using piecewise affine models to emulate the friction effect of the motor motion. The well-known model predictive control method is employed to deal with piecewise affine models. The increased complexity of the model offers a higher tracking precision on a simpler gain scheduling scheme.