Two-Degree-Of-Freedom Fuzzy Control in Decentralized Trajectory Tracking

Author

Precup, R.-E. ; Preitl, Z. ; Preitl, S. ; Vaivoda, S. ; Tar, J.K. ; Takács, M.

Author_Institution

Dept. of Autom. & Appl. Inf., "Politeh." Univ. of Timisoara, Timisoara

fYear

2007

fDate

Yearly 17 2007-May 18 2007

Firstpage

93

Lastpage

98

Abstract

The paper presents structures and a systematic development method for two-degree-of-freedom (2-DOF) fuzzy controllers with non-homogenous dynamics with respect to the two input channels. The proposed controller structures are dedicated to a low order plant, which is specific to the field of servo-systems. The design relations are based on the fact that, in some certain conditions, fuzzy controllers and linear development methods are applicable for this situation. The presentation points out that the proposed 2-DOF fuzzy controllers can be applied in robot control and ensure good control system performance with respect to reference input and disturbance actions.

Keywords

decentralised control; fuzzy control; position control; robots; servomechanisms; tracking; 2-DOF; controller structures; decentralized trajectory tracking; linear development methods; nonhomogenous dynamics; robot control; servo-systems; two-degree-of-freedom fuzzy control; Automatic control; Automation; Control systems; Fuzzy control; Fuzzy systems; Informatics; Intelligent systems; Output feedback; Robot control; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Applied Computational Intelligence and Informatics, 2007. SACI '07. 4th International Symposium on

Conference_Location

Timisoara

Print_ISBN

1-4244-1234-X

Type

conf

DOI

10.1109/SACI.2007.375491

Filename

4262493