Real time implementation of H-infinity and RST motion control of rotary traveling wave ultrasonic motor

This paper deals with design, performances comparison and experimental validation of H-infinity (H∞) and discrete time RST position controllers for a Traveling Wave Ultrasonic Motor (TWUM) which is dedicated to robotic applications. The proposed positioning system shows high precision levels of piez...

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Bibliographic Details
Published in:Mechatronics (Oxford) 2017-06, Vol.44, p.14-23
Main Authors: Brahim, M., Bahri, I., Bernard, Y.
Format: Article
Language:English
Subjects:
Electromagnetism
Engineering Sciences
H-infinity
Motion control
Piezoelectric motor
Robustness
RST
Stability criteria
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Summary:This paper deals with design, performances comparison and experimental validation of H-infinity (H∞) and discrete time RST position controllers for a Traveling Wave Ultrasonic Motor (TWUM) which is dedicated to robotic applications. The proposed positioning system shows high precision levels of piezoelectric motor without additional hysteresis and dead zone compensation systems. Moreover, the perturbation rejection capability and the robustness to motor parameters variation are guaranteed. The synthesis procedure of robust H∞ and RST position controllers is detailed. The performances of the proposed controllers are validated by simulation and experimental results.
ISSN:0957-4158
1873-4006
DOI:10.1016/j.mechatronics.2017.04.003