Adaptive fuzzy decoupling control for permanent magnet spherical motor dynamic system

Due to the nonlinear, strong coupling dynamic system of a direct-drive permanent magnet spherical motor (PMSM), an adaptive fuzzy decoupling controller is developed in this paper. The proposed scheme effectively combines the design techniques of adaptive fuzzy control and robust control in order to achieve dynamic decoupling and compensate for approximation errors. Moreover, a regularized matrix inverse is used to obtain a stable well-defined adaptive controller. Adaptive law can be derived based on the Lyapunov design. Simulation results demonstrate the effectiveness of the proposed scheme. Also, the results in this paper could serve as a basis for the future research and experiment.