H-Infinity and RST Position Controllers of Rotary Traveling Wave Ultrasonic Motor

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Controllers of Rotary Traveling Wave Ultrasonic Motor</title> <meta name="description" content="H-Infinity and RST Position Controllers of Rotary Traveling Wave Ultrasonic Motor"> <meta name="keywords" content="piezoelectric motors, position control, H∞, RST, stability criteria, robustness"> <meta name="viewport" content="width=device-width, initial-scale=1, minimum-scale=1, maximum-scale=1, user-scalable=no"> <meta charset="utf-8"> <link href="https://cdn.waset.org/favicon.ico" type="image/x-icon" rel="shortcut icon"> <link href="https://cdn.waset.org/static/plugins/bootstrap-4.2.1/css/bootstrap.min.css" rel="stylesheet"> <link href="https://cdn.waset.org/static/plugins/fontawesome/css/all.min.css" rel="stylesheet"> <link href="https://cdn.waset.org/static/css/site.css?v=150220211555" rel="stylesheet"> </head> <body> <header> <div class="container"> <nav class="navbar navbar-expand-lg navbar-light"> <a class="navbar-brand" href="https://waset.org"> <img 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publication-listing mt-3 mb-3"> <h5 class="card-header" style="font-size:.9rem">H-Infinity and RST Position Controllers of Rotary Traveling Wave Ultrasonic Motor</h5> <div class="card-body"> <p class="card-text"><strong>Authors:</strong> <a href="https://publications.waset.org/abstracts/search?q=M.%20Brahim">M. Brahim</a>, <a href="https://publications.waset.org/abstracts/search?q=I.%20Bahri"> I. Bahri</a>, <a href="https://publications.waset.org/abstracts/search?q=Y.%20Bernard"> Y. Bernard</a> </p> <p class="card-text"><strong>Abstract:</strong></p> Traveling Wave Ultrasonic Motor (TWUM) is a compact, precise, and silent actuator generating high torque at low speed without gears. Moreover, the TWUM has a high holding torque without supply, which makes this motor as an attractive solution for holding position of robotic arms. However, their nonlinear dynamics, and the presence of load-dependent dead zones often limit their use. Those issues can be overcome in closed loop with effective and precise controllers. In this paper, robust H-infinity (H∞) and discrete time RST position controllers are presented. The H∞ controller is designed in continuous time with additional weighting filters to ensure the robustness in the case of uncertain motor model and external disturbances. Robust RST controller based on the pole placement method is also designed and compared to the H∞. Simulink model of TWUM is used to validate the stability and the robustness of the two proposed controllers. <iframe src="https://publications.waset.org/abstracts/55691.pdf" style="width:100%; height:400px;" frameborder="0"></iframe> <p class="card-text"><strong>Keywords:</strong> <a href="https://publications.waset.org/abstracts/search?q=piezoelectric%20motors" title="piezoelectric motors">piezoelectric motors</a>, <a href="https://publications.waset.org/abstracts/search?q=position%20control" title=" position control"> position control</a>, <a href="https://publications.waset.org/abstracts/search?q=H%E2%88%9E" title=" H∞"> H∞</a>, <a href="https://publications.waset.org/abstracts/search?q=RST" title=" RST"> RST</a>, <a href="https://publications.waset.org/abstracts/search?q=stability%20criteria" title=" stability criteria"> stability criteria</a>, <a href="https://publications.waset.org/abstracts/search?q=robustness" title=" robustness"> robustness</a> </p> <a href="https://publications.waset.org/abstracts/55691/h-infinity-and-rst-position-controllers-of-rotary-traveling-wave-ultrasonic-motor" class="btn btn-primary btn-sm">Procedia</a> <a href="https://publications.waset.org/abstracts/55691.pdf" target="_blank" class="btn btn-primary btn-sm">PDF</a> <span class="bg-info text-light px-1 py-1 float-right rounded"> Downloads <span class="badge badge-light">244</span> </span> </div> </div> </div> </main> <footer> <div id="infolinks" class="pt-3 pb-2"> <div class="container"> <div style="background-color:#f5f5f5;" class="p-3"> <div class="row"> <div class="col-md-2"> <ul class="list-unstyled"> About <li><a href="https://waset.org/page/support">About Us</a></li> <li><a href="https://waset.org/page/support#legal-information">Legal</a></li> <li><a target="_blank" rel="nofollow" href="https://publications.waset.org/static/files/WASET-16th-foundational-anniversary.pdf">WASET celebrates its 16th foundational anniversary</a></li> </ul> </div> <div 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H-Infinity and RST Position Controllers of Rotary Traveling Wave Ultrasonic Motor