Model reference T-S Fuzzy tracking control in an eccentric mechanism

In this paper, we propose a synthetic controller including a T-S fuzzy tracking controller and a model reference adaptive controller (MRAC) for a class of eccentric mechanism. To tackle this nonlinear system, a T-S fuzzy controller is designed to aim at the reference model. As the real model is not the same as the reference model, to solve this problem, a model reference adaptive controller to let the reference model approach to real model. The design procedure of the proposed controller has three steps; firstly, the dynamic equation of the reference model is derived with Lagrange equation. Secondly, the T-S fuzzy tracking controller is designed based on this reference model and the stability of the system is also analyzed. And, the lastly, the MRAC is designed to compensate the difference between the real and reference model. The tracking performance of this proposed synthetic controller is better than traditional T-S fuzzy tracking controller by verification in an eccentric mechanism.