Compact cerebellar model articulation controller for ultrasonic motors

Yih Guang Leu*, Chin Ming Hong, Zhi Rong Chen, Jian Hao Liao

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

5 Citations (Scopus)


This paper presents a compact cerebellar model articulation system for the position control of ultrasonic motors. Since the ultrasonic motors possess a time-variant and heavy nonlinearity and a variable dead-zone characteristic, it is difficult to create a precise model of ultrasonic motors. To overcome this problem, robust adaptive control technique is often utilized for the control of ultrasonic motors. However, it requires solving complicated mathematical equations to find the adaptive control law. Moreover, due to the variable dead-zone characteristic, on-line adaptive control technique needs more complicated algorithms to overcome the influence of dead-zone. As a result, the real-time control realization often needs a high-cost microcomputer to calculate the complicated mathematical equations or algorithms. Based on the proposed compact cerebellar model scheme, the appropriate control input can be generated only by calculating the sum of two activated memory cells. Therefore, the simplicity of mathematical equations reduces the computation loading of the controller and eliminates the need for the high-cost microcomputer. Simulation and experiment results are provided to verify the effectiveness of the proposed method.

Original languageEnglish
Pages (from-to)5539-5552
Number of pages14
JournalInternational Journal of Innovative Computing, Information and Control
Issue number12
Publication statusPublished - 2010 Dec


  • Cerebellar model articulation system
  • Position control
  • Ultrasonic motors

ASJC Scopus subject areas

  • Software
  • Theoretical Computer Science
  • Information Systems
  • Computational Theory and Mathematics


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