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PSO-BASED SIMULTANEOUS TUNING METHOD FOR PID CONTROLLERS AND DEAD-ZONE COMPENSATORS AND ITS APPLICATION TO ULTRASONIC MOTORS

This paper proposes a simultaneous tuning method for PID controllers and dead-zone compensators based on particle swarm optimization. By the proposed algorithm, PID gains and dead-zone parameters are tuned online to minimize the error between the control output and the reference input. However, since ultrasonic motors intrinsically have a varying dead-zone in the control input associated with applied load torque, dead-zone compensation is required for precise control of these motors. The proposed method is applied to an ultrasonic motor, and its effectiveness is verified by experimental results.