초음파 모터 제어를 위한 퍼지 추론 시스템 기반 다중 제어기 설계

Design of Multiple Controller Based on Fuzzy Inference System for Control of Ultrasonic Motor

In this paper, we present the position control of pendulum system which is driven by a ultrasonic motor. Since the system's response is different for each initial position of pendulum, it is difficult to obtain the satisfiable control performance by using a neural network which is learned by off-line. To overcome this problem, we propose the multiple controller based on fuzzy inference system for ultrasonic motor. and controller is designed by neural network. The proposed method shows good performance for any initial positions and it's effectiveness is verified from experiments. We expect that ultrasonic motor can be used as actuators of robot's leg or manipulator.