Title :
Trajectory tracking with variable sampling using fuzzy logic controller
Author :
Ciganek, Jan ; Noge, Filip ; Kozak, Slawomir
Author_Institution :
Inst. of Automotive Mechatron., Slovak Univ. of Technol., Bratislava, Slovakia
Abstract :
The paper deals with an effective approach of the robust controller design based on the fuzzy logic, and algorithms for variable sampling of trajectory points to improve the control performance of trajectory tracking. The proposed controller design and sampling algorithms are verified on the case study of the selected mechatronic system. All presented results are reached in co-simulation of two different modeling environments - Matlab-Simulink and MSC Adams. MSC Adams is used for the dynamics of the mechatronic system, Matlab-Simulink for the control part of the co-simulation, respectively.
Keywords :
control system synthesis; fuzzy control; fuzzy set theory; linear systems; mechatronics; nonlinear dynamical systems; process control; robust control; sampling methods; trajectory control; MSC Adams; Matlab-Simulink; control performance improvement; fuzzy logic controller; mechatronic system dynamics; modeling environment; nonlinear dynamic process; robust controller design; sampling algorithm; trajectory points variable sampling; trajectory tracking; Fuzzy logic; Fuzzy sets; MATLAB; Mathematical model; Mechatronics; Robots; Trajectory; Co-simulation; Control System; Fuzzy Logic; MSC Adams; Matlab-Simulink; Mechatronic System; Robotic Arm; Sampling Algorithm; Soft Computing; Trajectory Tracking;
Conference_Titel :
Control Conference (ICCC), 2014 15th International Carpathian
Conference_Location :
Velke Karlovice
Print_ISBN :
978-1-4799-3527-7
DOI :
10.1109/CarpathianCC.2014.6843573
