Title :
A fuzzy-genetic controller for the output regulation of a servomechanism with backlash
Author :
Cazarez-Castro, Nohe R. ; Aguilar, Luis T. ; Castillo, Oscar
Author_Institution :
Univ. Autonoma de Baja California, Tijuana
fDate :
March 30 2009-April 2 2009
Abstract :
A fuzzy logic controller is proposed to achieve the output regulation problem of a servomechanism with backlash. The problem is to design a fuzzy controller to obtain the closed-loop system in which the load of the driver is regulated to a desired position. The provided servomotor position is the only measurement available for feedback. The proposed fuzzy controller is optimized with a genetic algorithm to obtain best performance results. The proposed method is far from trivial because of non-minimum-phase properties of the system. Simulation results illustrate the effectiveness of the optimized closed-loop system.
Keywords :
closed loop systems; fuzzy control; genetic algorithms; manipulators; position control; servomotors; PEGASUS robot manipulator; closed-loop system; fuzzy logic controller; fuzzy-genetic controller; genetic algorithm; servomechanism output regulation; servomotor position; Control systems; DC motors; Feedback; Friction; Fuzzy control; Fuzzy logic; Fuzzy systems; Genetic algorithms; Position measurement; Servomechanisms;
Conference_Titel :
Hybrid Intelligent Models and Applications, 2009. HIMA '09. IEEE Workshop on
Conference_Location :
Nashville, TN
Print_ISBN :
978-1-4244-2758-1
DOI :
10.1109/HIMA.2009.4937817
