A fuzzy approach for mechanical systems with uncertain load

In many applications of motion control, problems associated with imprecisely measured or changing load (mass or moment of inertia) constitute a serious obstacle in the design of satisfactory controlling systems, more and more often compelling the introduction of various forms of uncertainties to engineering solutions. This paper deals with the time-optimal control for mechanical systems with uncertain load. A fuzzy approach is used in the design of suboptimal feedback controllers, convenient in practice thanks to their many advantages, especially in respect to robustness. The methodology here proposed may be easily transferred to other elements occurring in the models of mechanical systems, e.g. parameters of drive or motion resistance.