Abstract
The tracking problem for an electrical actuator consisting of a DC motor and a reducer part (load) operating under uncertainty conditions due to friction and backlash is addressed. The Mamdani type fuzzy logic control will be designed to enforce the load position to track a prespecified reference trajectory. Since it is assumed that the dynamic model is not available, Lyapunov stability theory coupled together with the comparison principle will be used to conclude stability of the closed-loop system.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Feng, G: A survey on analysis and design of model-based fuzzy control systems. IEEE Trans. Fuzzy Systems 14, 676–697 (2006)
Filippov A (1988). Differential equations with discontinuous right-hand sides. Kluwer Academic Publisher, Dordrecht.
Jang J, Sun C, and Mizutani E (1997). Neuro-fuzzy and Soft Computing: A Computational Approach to Learning and Machine Intelligence. MATLAB curriculum series. Prentice Hall, New Jersey.
Khalil H (2002). Nonlinear systems. Prentice Hall, New Jersey, third edition.
Kovacic, Z, Bogdan, S: Fuzzy Controller Design: Theory and Applications. CRC, Boca Raton (2006)
Lee, D., Joo, T., Tak, M.: Local stability analysis of continuous-time Takagi-Sugeno fuzzy systems: A fuzzy Lyapunov function approach. Information Sciences 257, 163–175 (2014)
Mamdani E. (1977). Application of fuzzy logic to approximate reasoning using linguistic synthesis. IEEE Transactions in Computers, 26(12), p 1182–1191.
Mamdani E and Assilian S (1975). An experiment in linguistic synthesis with a fuzzy logic controller. International Journal of Man-Machine Studies, 7(1), 1–13.
Melin P and Castillo O (2008). Type-2 Fuzzy Logic: Theory and Applications, volume 223. Springer, Berlin, Heidelberg.
Orlov Y (2009). Discontinuous Systems—Lyapunov Analysis and Robust Synthesis under Uncertainty Conditions. Springer-Verlag, London.
Orlov Y, Aguilar L, and Cadiou J (2003). Switched chattering control vs. backlash/friction phenomena in electrical servo-motors. International Journal of Control, 76(9/10), p 959–967.
Ponce I, Bentsman J, Orlov Y, and Aguilar L (2015). Generic nonsmooth H¥ output synthesis: application to a coal-fired boiler/turbine unit with actuator dead zone. IEEE Transactions on Control Systems Technology, 23(6), p 2117–2128.
Rascón R, Alvarez J, and Aguilar L (2016). Discontinuous H ¥ control for underactuated mechanical systems with friction and backlash. International Journal of Control, Automation and Systems.
Tao G and Kokotovic P (1996). Adaptive control of systems with actuator and sensor non-linearities. Wiley, New York.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2017 Springer International Publishing AG
About this chapter
Cite this chapter
Duarte, N., Aguilar, L.T., Castillo, O. (2017). Sensor Less Fuzzy Logic Tracking Control for a Servo System with Friction and Backlash. In: Melin, P., Castillo, O., Kacprzyk, J. (eds) Nature-Inspired Design of Hybrid Intelligent Systems. Studies in Computational Intelligence, vol 667. Springer, Cham. https://doi.org/10.1007/978-3-319-47054-2_39
Download citation
DOI: https://doi.org/10.1007/978-3-319-47054-2_39
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-47053-5
Online ISBN: 978-3-319-47054-2
eBook Packages: EngineeringEngineering (R0)