Model - free Adaptive Sliding Mode Predictive Control of Linear Ultrasonic Motor

Abstract

Because the linear ultrasonic motor system has obvious nonlinearity and time-varying. In the operation process, the tracking error, mechanical delays, and other factors will greatly impact the position tracking accuracy. To reduce the linear ultrasonic motor position steady-state error. Sliding mode control (SMC) is invariant to system disturbance and model-free adaptive predictive control (MFAPC) can realize adaptive control only by input and output data of a controlled system, this paper designed a model-free adaptive sliding mode predictive controller (MFASMPC) and proved its stability and convergence Finally, the position control of linear ultrasonic motor based on model-free adaptive sliding mode predictive control method is simulated and analyzed. Theoretical proof and simulation results show that such an algorithm can effectively reduce the steady-state error to meet the control accuracy requirements.