Design of feedforward compensator for the travelling wave ultrasonic motor based on non-uniform rational B-splines curve neural network

In this study, a novel feedforward compensator which is based on the non-uniform rational B-splines (NURBS) curve neural network (NURBSCNN), is developed for the travelling wave ultrasonic motor (TWUSM). The proposed NURBSCNN consists of three hidden layers, in which the blending functions are adopted as the activation functions for the neurons in the first hidden layer rather than the commonly used sigmoid functions. Simulations are performed to demonstrate the feasibility of the proposed schemes. Simulation results reveal that the proposed design approach exhibits satisfactory performance.