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

fYear

2009

fDate

March 30 2009-April 2 2009

Firstpage

1

Lastpage

6

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Hybrid Intelligent Models and Applications, 2009. HIMA '09. IEEE Workshop on

Conference_Location

Nashville, TN

Print_ISBN

978-1-4244-2758-1

Type

conf

DOI

10.1109/HIMA.2009.4937817

Filename

4937817