A Servo Positioning by Using Model Reference Adaptive Fuzzy Controller

Abstract The paper describes the synthesis of a model reference adaptive fuzzy control scheme based on the usage of stability criteria obtained after applying a direct Lyapunov method. In the selected adaptation law generated changes of controller parameters are proportional to the reference model tracking error with an adaptation coefficient as a measure of proportionality. The adaptive fuzzy logic controller (FLC) has been designed and then tested experimentally on the setup of nonlinear positioning servo system affectea by friction and gravitational load. The experimental results obtained under various operating conditions have confirmed that the analytically founded synthesis of the adaptive FLC has headed to a controller which guarantees a stable adaptation process and enforces the system responses to follow the responses of the given reduced-order reference model.

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