Nonlinear Servo Adaptive Fuzzy Tracking

Author

Garrido, Rubén ; Calderon, D. ; Soria, Alberto

Author_Institution

Dept. de Control Automatico, CINVESTAV-IPN, Mexico City

fYear

2007

fDate

4-10 Nov. 2007

Firstpage

285

Lastpage

293

Abstract

An algorithm for tracking time-varying references for a nonlinear second order uncertain servo is proposed. Uncertainties in nonlinear functions associated to the state and uncertainties on the servo gain are counteracted using a desired adaptive fuzzy compensator plus a linear proportional derivative plus feedforward compensation. A depart from existing approaches is the fact that the proposed algorithm is not based on switching terms and as consequence chattering is avoided. Stability is proved using the second Lyapunov method and performance is evaluated through experiments in a laboratory prototype.

Keywords

Lyapunov methods; PD control; adaptive control; feedforward; fuzzy control; nonlinear control systems; servomotors; time-varying systems; tracking; uncertain systems; Lyapunov method; adaptive fuzzy compensator; linear proportional derivative plus feedforward compensation; nonlinear second order uncertain servo; nonlinear servoadaptive fuzzy tracking; time-varying references; Adaptive control; Control systems; Fuzzy control; Fuzzy logic; Fuzzy systems; PD control; Programmable control; Servomechanisms; Stability; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Artificial Intelligence - Special Session, 2007. MICAI 2007. Sixth Mexican International Conference on

Conference_Location

Aguascallentes

Print_ISBN

978-0-7695-3124-3

Type

conf

DOI

10.1109/MICAI.2007.29

Filename

4659318