Robust Motion Control of Ultrasonic Motors under Temperature Disturbance

Mohammad Ali Tavallaei, Seyed Farokh Atashzar, Maria Drangova

Research output: Contribution to journalArticlepeer-review


This paper presents a practical robust controller that solves the problem of accurate motion control of ultrasonic motors (USMs) over prolonged durations, where temperature increases pose a significant challenge. This paper focuses on USMs with driver circuits that have a single user-controllable input. Prior to developing the robust controller, a nonlinear model of the system was identified by experimentally measuring the temporal relationship between motor speed and temperature to the applied input control signal. A linear approximation of this model was used to design two robust inverse dynamic controllers: one used temperature feedback and the other did not. Both control methods were implemented on a custom designed embedded control system and achieved highly consistent and accurate performance while under load over a range of working frequencies. Step-response experiments (1 rad) demonstrated a rise time of 0.1 s without any overshoot or steady-state error. A normalized RMSE below 3% with a delay of 25 ms was achieved for reference inputs with frequencies up to 1 Hz. This performance was maintained during prolonged continuous dynamic operation of several minutes, despite the great variation in the motor's dynamics due to the temperature effects (over a range of 25 °C-45 °C) and modeling uncertainties.

Original languageEnglish (US)
Article number7327180
Pages (from-to)2360-2368
Number of pages9
JournalIEEE Transactions on Industrial Electronics
Issue number4
StatePublished - Apr 1 2016


  • Robust control
  • control design
  • motion control
  • piezoelectric actuators

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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