Trajectory Tracking Using Fuzzy-Lyapunov Approach: Application to a Servo Trainer

This paper presents a Fuzzy-Lyapunov approach to design trajectory tracking controllers. This methodology uses a Lyapunov function candidate to obtain the rules of the Mamdani-type fuzzy controllers which are implemented to track a desired trajectory. Two fuzzy controllers are implemented to control the position and velocity of a servo trainer and real time results are presented to evaluate the performance of designed controllers against the performance of classical controller.

[1]  Michael Margaliot,et al.  Design and analysis of fuzzy schedulers using fuzzy Lyapunov synthesis , 1999, 1999 Third International Conference on Knowledge-Based Intelligent Information Engineering Systems. Proceedings (Cat. No.99TH8410).

[2]  Michael Margaliot,et al.  Adaptive fuzzy controller design via fuzzy Lyapunov synthesis , 1998, 1998 IEEE International Conference on Fuzzy Systems Proceedings. IEEE World Congress on Computational Intelligence (Cat. No.98CH36228).

[3]  Michael Margaliot,et al.  Fuzzy Lyapunov-based approach to the design of fuzzy controllers , 1999, Fuzzy Sets Syst..

[4]  Michael Margaliot,et al.  Fuzzy control of a benchmark problem: a computing with words approach , 2004, IEEE Transactions on Fuzzy Systems.

[5]  H.A. Talebi,et al.  Fuzzy lyapunov synthesis-based controller for a flexible manipulator: experimental results , 2005, Proceedings of 2005 IEEE Conference on Control Applications, 2005. CCA 2005..

[6]  Patricia Melin,et al.  Design of Stable Type-2 Fuzzy Logic Controllers based on a Fuzzy Lyapunov Approach , 2006, 2006 IEEE International Conference on Fuzzy Systems.

[7]  Michael Margaliot,et al.  New Approaches to Fuzzy Modeling and Control - Design and Analysis , 2000, Series in Machine Perception and Artificial Intelligence.

[8]  Changjiu Zhou,et al.  Fuzzy-arithmetic-based Lyapunov synthesis in the design of stable fuzzy controllers: A computing-with-words approach , 2002 .

[9]  M. Blanke,et al.  Roll damping by rudder control-a new H/sub /spl infin// approach , 1994, 1994 Proceedings of IEEE International Conference on Control and Applications.