Adaptive Fractional-Order Sliding Mode Controller with Neural Network Compensator for an Ultrasonic Motor
Xiaolong Chen,
Wenyu Liang,
Han Zhao
et al.
Abstract:Ultrasonic motors (USMs) are commonly used in aerospace, robotics, and medical devices, where fast and precise motion is needed. Remarkably, sliding mode controller (SMC) is an effective controller to achieve precision motion control of the USMs. To improve the tracking accuracy and lower the chattering in the SMC, the fractionalorder calculus is introduced in the design of an adaptive SMC in this paper, namely, adaptive fractional-order SMC (AFOSMC), in which the bound of the uncertainty existing in the USMs … Show more
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