Nonlinear Positioning Compensator of a Novel

Thin-Disc Ultrasonic Motor using Fuzzy

Sliding-Mode Control


Chi-Yung Yena,b , Fuh-Liang Wenc, and Minsun Ouyanga


a Department of Engineering and System Science,

National Tsing-Hua University,

Hsinchu 300, Taiwan, R.O.C.


b Department of Electrical Engineering,

National United University,

 Miaoli 360, Taiwan, R.O.C.


c Department of Mechanical Engineering,

 St. Johns and St. Marys Institute of Technology,

Taipei 251, Taiwan, R.O.C.



Abstract: An approach of controller design based on fuzzy set and sliding-mode control theory for positioning purpose of a thin-disc edge-driving ultrasonic motor (USM) is developed in this study.  A commercially available thin-disc buzzer used as a novel actuating component of ultrasonic motor with simple structure has been demonstrated its cost effectiveness and advantage in flexible mechanism design of a stator and rotor separately according to the necessary of applications.  The driving mechanism associated with the non-linear phenomena such as dead-zone and hysteresis behaviors were studied too.  Through system identification technique, the approximated transfer function of ultrasonic motor was obtained for controller design using fuzzy sliding-mode (FSMC).  It has been successfully applied to position tracking to prove the excellent robust performance in noise rejection.


Keywords: ultrasonic motor; non-linear; dead-zone; hysteresis; fuzzy sliding-mode; robust.

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