Vibration type actuator control apparatus, vibration type driving apparatus having the same, interchangeable lens, imaging apparatus, and automatic stage

A vibration type driving apparatus comprising:

• a vibration type actuator configured to move, by using a vibration produced in a vibrator, a contact member in contact with the vibrator relative to the vibrator;
• and
• a vibration type actuator control apparatus configured to control the vibration type actuator,
• wherein the vibration type actuator control apparatus includes a control unit including a first learned model and a second learned model each having a neural network including an input layer, a hidden layer, and an output layer, and a drive unit configured to move the contact member in contact with the vibrator relative to the vibrator by using control amounts output from the control unit,
• wherein, in a case where a target velocity for moving the contact member relative to the vibrator is input, the first learned model is configured to output a first control amount for moving the contact member relative to the vibrator,
• wherein, in a case where a positional deviation for moving the contact member relative to the vibrator is input, the second learned model is configured to output a second control amount for moving the contact member relative to the vibrator,
• wherein the drive unit is configured to move the contact member relative to the vibrator by using a value based on the first control amount and the second control amount, and
• wherein the positional deviation is a value in association with a difference between a target position for moving the contact member relatively to the vibrator and a detected position detected when the contact member is moved relatively to the vibrator.