ENGLISH

Robust fuzzy logic control of mechanical systems

By Kohn-Rich S. , Flashner H.

Book information

Year
2002
Language
english
Format
PDF
Filesize
2 MB (2107752 bytes)
Pages
32\32
Topic
Physics
Library
mexmat
Time added
2009-07-20 03:45:11

Description

An approach for the design of fuzzy control laws for tracking control of a large class of mechanical systems is proposed. The approach employs the framework of Lyapunov's stability theory to formulate a class of control laws that guarantee convergence of the tracking errors to within specification limits in presence of bounded parameter uncertainties and input disturbances. The proposed control laws possess a large number of parameters and functional relationships to be chosen by the designer according to a methodology developed in the paper. The large number of design degrees of freedom makes the approach suitable for fuzzy logic implementation. A number of fuzzy implementations of the proposed control methodology are provided. All implementations guarantee tracking error convergence to within prespecified performance limits. An extensive simulation study using a model of a two-degree-of-freedom robot manipulator was conducted. Fuzzy and non-fuzzy implementations of the proposed methodology were compared to control laws designed using other design methods. Simulation study results indicate a superiority of the proposed control methodology compared to other approaches. The study also demonstrates better performance of the fuzzy control implementation compared to its non-fuzzy counterpart. c 2002 Elsevier Science B.V. All rights reserved. Introduction......Page 1 Characteristics of mechanical systems......Page 3 Tracking control design procedure......Page 4 Tracking control of mechanical systems......Page 5 Tracking fuzzy logic controllers......Page 10 Fuzzy manifold robust controller......Page 11 Simulation......Page 13 Inverse dynamics control law......Page 15 Robust saturation-type control law......Page 16 Adaptive inertia-related control law......Page 17 Fuzzy manifold-boundary robust controller......Page 18 Case 1: constant parameters, no disturbance noise......Page 22 Case 2: constant parameters, added disturbance noise......Page 23 Case 3: varying parameters, no disturbance noise......Page 25 Fuzzy manifold robust controller......Page 26 Conclusions......Page 28 Appendix......Page 30 References......Page 31

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