Intelligent motion control of ultrasonic motor for an ear surgical device

Wenyu Liang; Sunan Huang; Jun Ma; Kok Kiong Tan

doi:10.1109/IECON.2018.8591047

Intelligent motion control of ultrasonic motor for an ear surgical device

Wenyu Liang, Sunan Huang, Jun Ma, Kok Kiong Tan

Research output: Chapter in Book/Conference Proceeding/Report › Conference Paper published in a book › peer-review

2 Citations (Scopus)

Abstract

Ultrasonic motors (USMs) are widely used in many applications that precise and fast motions are required, such as precision machines and medical devices, etc. In this paper, a USM-driven ear surgical device is introduced. To address the control challenges of the USM, an intelligent controller consisting of a cerebellar model articulation controller (CMAC) and a sliding mode compensator (SMC) is designed. Therein, the CMAC serves as the main controller due to its fast learning ability while the SMC is used to eliminate the approximation error between the CMAC and the desired perfect controller. Several experiments are carried out to validate the effectiveness of the proposed control scheme, and the results show that the proposed control scheme is able to achieve good tracking performance and guaranteed robustness.

Original language	English
Title of host publication	Proceedings
Subtitle of host publication	IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	5656-5661
Number of pages	6
ISBN (Electronic)	9781509066841
DOIs	https://doi.org/10.1109/IECON.2018.8591047
Publication status	Published - 26 Dec 2018
Externally published	Yes
Event	44th Annual Conference of the IEEE Industrial Electronics Society, IECON 2018 - Washington, United States Duration: 20 Oct 2018 → 23 Oct 2018

Publication series

Name	Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society

Conference

Conference	44th Annual Conference of the IEEE Industrial Electronics Society, IECON 2018
Country/Territory	United States
City	Washington
Period	20/10/18 → 23/10/18

Bibliographical note

Publisher Copyright:
© 2018 IEEE.

Keywords

Intelligent control
Motion control
Surgical device
Ultrasonic motor

Access to Document

10.1109/IECON.2018.8591047

Cite this

Liang, W., Huang, S., Ma, J., & Tan, K. K. (2018). Intelligent motion control of ultrasonic motor for an ear surgical device. In Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society (pp. 5656-5661). Article 8591047 (Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IECON.2018.8591047

Liang, Wenyu ; Huang, Sunan ; Ma, Jun et al. / Intelligent motion control of ultrasonic motor for an ear surgical device. Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 5656-5661 (Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society).

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title = "Intelligent motion control of ultrasonic motor for an ear surgical device",

abstract = "Ultrasonic motors (USMs) are widely used in many applications that precise and fast motions are required, such as precision machines and medical devices, etc. In this paper, a USM-driven ear surgical device is introduced. To address the control challenges of the USM, an intelligent controller consisting of a cerebellar model articulation controller (CMAC) and a sliding mode compensator (SMC) is designed. Therein, the CMAC serves as the main controller due to its fast learning ability while the SMC is used to eliminate the approximation error between the CMAC and the desired perfect controller. Several experiments are carried out to validate the effectiveness of the proposed control scheme, and the results show that the proposed control scheme is able to achieve good tracking performance and guaranteed robustness.",

keywords = "Intelligent control, Motion control, Surgical device, Ultrasonic motor",

author = "Wenyu Liang and Sunan Huang and Jun Ma and Tan, \{Kok Kiong\}",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 44th Annual Conference of the IEEE Industrial Electronics Society, IECON 2018 ; Conference date: 20-10-2018 Through 23-10-2018",

year = "2018",

month = dec,

day = "26",

doi = "10.1109/IECON.2018.8591047",

language = "English",

series = "Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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Liang, W, Huang, S, Ma, J & Tan, KK 2018, Intelligent motion control of ultrasonic motor for an ear surgical device. in Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society., 8591047, Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society, Institute of Electrical and Electronics Engineers Inc., pp. 5656-5661, 44th Annual Conference of the IEEE Industrial Electronics Society, IECON 2018, Washington, United States, 20/10/18. https://doi.org/10.1109/IECON.2018.8591047

Intelligent motion control of ultrasonic motor for an ear surgical device. / Liang, Wenyu; Huang, Sunan; Ma, Jun et al.
Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc., 2018. p. 5656-5661 8591047 (Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society).

Research output: Chapter in Book/Conference Proceeding/Report › Conference Paper published in a book › peer-review

TY - GEN

T1 - Intelligent motion control of ultrasonic motor for an ear surgical device

AU - Liang, Wenyu

AU - Huang, Sunan

AU - Ma, Jun

AU - Tan, Kok Kiong

PY - 2018/12/26

Y1 - 2018/12/26

N2 - Ultrasonic motors (USMs) are widely used in many applications that precise and fast motions are required, such as precision machines and medical devices, etc. In this paper, a USM-driven ear surgical device is introduced. To address the control challenges of the USM, an intelligent controller consisting of a cerebellar model articulation controller (CMAC) and a sliding mode compensator (SMC) is designed. Therein, the CMAC serves as the main controller due to its fast learning ability while the SMC is used to eliminate the approximation error between the CMAC and the desired perfect controller. Several experiments are carried out to validate the effectiveness of the proposed control scheme, and the results show that the proposed control scheme is able to achieve good tracking performance and guaranteed robustness.

AB - Ultrasonic motors (USMs) are widely used in many applications that precise and fast motions are required, such as precision machines and medical devices, etc. In this paper, a USM-driven ear surgical device is introduced. To address the control challenges of the USM, an intelligent controller consisting of a cerebellar model articulation controller (CMAC) and a sliding mode compensator (SMC) is designed. Therein, the CMAC serves as the main controller due to its fast learning ability while the SMC is used to eliminate the approximation error between the CMAC and the desired perfect controller. Several experiments are carried out to validate the effectiveness of the proposed control scheme, and the results show that the proposed control scheme is able to achieve good tracking performance and guaranteed robustness.

KW - Intelligent control

KW - Motion control

KW - Surgical device

KW - Ultrasonic motor

UR - https://www.scopus.com/pages/publications/85061534736

U2 - 10.1109/IECON.2018.8591047

DO - 10.1109/IECON.2018.8591047

M3 - Conference Paper published in a book

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T3 - Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society

SP - 5656

EP - 5661

BT - Proceedings

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 44th Annual Conference of the IEEE Industrial Electronics Society, IECON 2018

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Liang W, Huang S, Ma J, Tan KK. Intelligent motion control of ultrasonic motor for an ear surgical device. In Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc. 2018. p. 5656-5661. 8591047. (Proceedings: IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society). doi: 10.1109/IECON.2018.8591047

Intelligent motion control of ultrasonic motor for an ear surgical device

Abstract

Publication series

Conference

Bibliographical note

Keywords

Access to Document

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