Fuzzy Control of a Nonlinear Servomotor Model

A nonlinear servomotor model with friction, saturation, backlash, and motor starting voltage is presented in this article. Fuzzy control and nonlinear PID control are compared using numerous computer simulations. A systematical method for tuning a PD-type fuzzy controller with training data is introduced.

[1]  Shigeo Abe,et al.  Neural Networks and Fuzzy Systems , 1996, Springer US.

[2]  F. G. Greg Shinskey,et al.  Process Control Systems: Application, Design and Tuning , 1990 .

[3]  William M. Humphrey.  Introduction to servomechanism system design , 1973 .

[4]  Brian Armstrong-Hélouvry,et al.  Control of machines with friction , 1991, The Kluwer international series in engineering and computer science.

[5]  Carlos Canudas de Wit,et al.  Adaptive friction compensation in DC motor drives , 1986, Proceedings. 1986 IEEE International Conference on Robotics and Automation.

[6]  R. Stengel,et al.  CONTROL systems. , 1952, Hospitals.

[7]  Y.F. Li,et al.  Development of fuzzy algorithms for servo systems , 1989, IEEE Control Systems Magazine.

[8]  Karl Johan Åström,et al.  Computer-Controlled Systems: Theory and Design , 1984 .

[9]  Chuen-Chien Lee.  FUZZY LOGIC CONTROL SYSTEMS: FUZZY LOGIC CONTROLLER - PART I , 1990 .

[10]  Bernard Friedland,et al.  On adaptive friction compensation , 1992 .

[11]  Bruce A. Chubb.  Modern Analytical Design of Instrument Servomechanisms , 1967 .

[12]  A. Titli,et al.  Fuzzy logic control compared with other automatic control approaches , 1991, [1991] Proceedings of the 30th IEEE Conference on Decision and Control.

[13]  J. Y. S. Luh,et al.  Conventional controller design for industrial robots — A tutorial , 1983, IEEE Transactions on Systems, Man, and Cybernetics.

[14]  Fumio Harashima,et al.  Brushless servo motor control using variable structure approach , 1988 .

[15]  Arthur Porter,et al.  Introduction to servomechanisms , 1950 .

[16]  Astrom.  Computer Controlled Systems , 1990 .