CONTROL DEVICE FOR VIBRATION-TYPE ACTUATOR, VIBRATION-TYPE DRIVE DEVICE INCLUDING VIBRATION-TYPE ACTUATOR AND CONTROL DEVICE, AND ELECTRONIC APPARATUS USING MACHINE LEARNING
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United States of America
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Issued Date -
Apr 28, 2022
app pub date -
Oct 25, 2021
filing date -
Oct 25, 2021
priority date (Note) -
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Abstract
A control device for a vibration-type actuator includes a control unit including first and second output units. The first output unit includes a first learned model subjected to machine learning in such a way as to output a first control amount for causing the contact body to relatively move with respect to the vibrator. The second output unit includes a second learned model subjected to machine learning in such a way as to output a second control amount, which is data of the same data format as that of the first control amount. The control unit updates parameters of the first learned model and parameters of the second learned model based on a control deviation, which is a difference between the first control amount and the second control amount output within the same sampling period as that of the first control amount.
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