Development of robust fuzzy control methods and their applications to a mechanical system

In this study, a non-singleton fuzzy sliding control based strategies are investigated with simulation and also experimental studies in order to minimize angular velocity ripples of the nonlinear four-bar mechanism when it is driven by an electric motor. The mathematical model of the full system included the motor and four-bar mechanism is first obtained and open loop reply of the system is illustrated to show angular velocity ripples of the crank in the presence of the constant potential source. Secondly, an optimized PID controller by using pattern search is designed to reduce crank angular velocity ripples for the closed loop system. A new non-singleton type1 fuzzy sliding controller is designed in order to obtain stable crank angular velocity in the steady state and performances of different types of fuzzy sliding controllers are comparatively illustrated. In addition to simulation results, experimental results of the controlled systems are also presented in order to show the effectiveness of the controllers in practice. As far as the industrial applications are concerned, simpler and more practical control algorithm is obtained with non-singleton type-1 fuzzy sliding control structure.

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