Title :
Nonlinear Servo Adaptive Fuzzy Tracking
Author :
Garrido, Rubén ; Calderon, D. ; Soria, Alberto
Author_Institution :
Dept. de Control Automatico, CINVESTAV-IPN, Mexico City
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;
Conference_Titel :
Artificial Intelligence - Special Session, 2007. MICAI 2007. Sixth Mexican International Conference on
Conference_Location :
Aguascallentes
Print_ISBN :
978-0-7695-3124-3
DOI :
10.1109/MICAI.2007.29
