Designing Type-1 and Type-2 Fuzzy Logic Controllers via Fuzzy Lyapunov Synthesis for nonsmooth mechanical systems

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• 作者：Nohe R. Cazarez-Castro^a ; ^{nohe@ieee.org} ; Luis T. Aguilar^b ; Oscar Castillo^c
• 关键词：Type-2 Fuzzy Systems ; Fuzzy control ; Fuzzy Lyapunov Synthesis ; Stability ; Nonsmooth systems
• 刊名：Engineering Applications of Artificial Intelligence
• 出版年：2012
• 期刊代码：51_09521976
• 类别：cp
• 出版时间：August, 2012
• 卷：25
• 期：5
• 页码：971-979
• 文件大小：917 K

摘要

In this paper, Fuzzy Lyapunov Synthesis is extended to the design of Type-1 and Type-2 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. Performance issues of the Type-1 and Type-2 Fuzzy Logic Regulators that were designed are illustrated in experimental studies.