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An Observer for the Type-1 Fuzzy Control of a Servomechanism with Backlash Using Only Motor Measurements

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Soft Computing for Intelligent Control and Mobile Robotics

Part of the book series: Studies in Computational Intelligence ((SCI,volume 318))

Abstract

This paper addresses the analysis and design of an observer in order to ease the difficulty of working with various variables for the design of type-1 fuzzy controllers. In this paper Fuzzy Lyapunov Synthesis, based on the observed system, is extended to the design of type-1 fuzzy logic controllers for nonsmooth mechanical systems. The output regulation problem for a servomechanism with nonlinear backlash is proposed as a case of study. The problem at hand is to design a feedback controller so as to obtain the closed-loop system in which all trajectories are bounded and the load of the driver is regulated to a desired position while also attenuating the influence of external disturbances. The servomotor position is the only measurement available for feedback; the proposed extension is far from trivial because of the nonminimum phase properties of the system.

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Author information

Authors and Affiliations

  1. Facultad de Ciencias Quimicas e Ingenieria, Universidad Autonoma de Baja California, Tijuana, BC, 22414, Mexico

    Nohe R. Cazarez-Castro

  2. Instituto Politectico Nacional, Mexico

    Luis T. Aguilar

  3. Instituto Teconlogico de Tijuana, Mexico

    Oscar Castillo

Authors
  1. Nohe R. Cazarez-Castro
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  2. Luis T. Aguilar
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  3. Oscar Castillo
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Editor information

Editors and Affiliations

  1. Tijuana Institute of Technology, Chula Vista, CA, USA

    Oscar Castillo

  2. Polish Academy of Sciences, Warsaw, Poland

    Janusz Kacprzyk

  3. University of Alberta, Edmonton, AB, Canada

    Witold Pedrycz

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© 2010 Springer-Verlag Berlin Heidelberg

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Cazarez-Castro, N.R., Aguilar, L.T., Castillo, O. (2010). An Observer for the Type-1 Fuzzy Control of a Servomechanism with Backlash Using Only Motor Measurements. In: Castillo, O., Kacprzyk, J., Pedrycz, W. (eds) Soft Computing for Intelligent Control and Mobile Robotics. Studies in Computational Intelligence, vol 318. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-15534-5_25

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  • DOI: https://doi.org/10.1007/978-3-642-15534-5_25

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-15533-8

  • Online ISBN: 978-3-642-15534-5

  • eBook Packages: EngineeringEngineering (R0)

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