Adaptive Fuzzy Torque Control of Passive Torque Servo Systems Based on Small Gain Theorem and Input-to-state Stability

• Published in: Chinese journal of aeronautics 2012-12, Vol.25 (6), p.906-916
• Main Authors: WANG, Xingjian, WANG, Shaoping, ZHAO, Pan
• Format: Article
• Language: English
• Subjects: adaptive control; electric load simulator; extra torque; flight simulation; fuzzy control; input-to-state stability; passive torque servo system; small gain theorem; 伺服系统; 小增益定理; 模糊逻辑系统; 状态稳定性; 自适应; 被动式; 负载模拟器; 转矩控制
• ISSN: 1000-9361
• DOI: 10.1016/S1000-9361(11)60461-5

Passive torque servo system （PTSS） simulates aerodynamic load and exerts the load on actuation system, but PTSS endures position coupling disturbance from active motion of actuation system, and this inherent disturbance is called extra torque. The most important issue for PTSS controller design is how to eliminate the influence of extra torque. Using backstepping technique, adaptive fuzzy torque control （AFTC） algorithm is proposed for PTSS in this paper, which reflects the essential characteristics of PTSS and guarantees transient tracking performance as well as final tracking accuracy. Takagi-Sugeno （T-S） fuzzy logic system is utilized to compensate parametric uncertainties and unstructured uncertainties. The output velocity of actuator identified model is introduced into AFTC aiming to eliminate extra torque. The closed-loop stability is studied using small gain theorem and the control system is proved to be semiglobally uniformly ultimately bounded. The proposed AFTC algorithm is applied to an electric load simulator （ELS）, and the comparative experimental results indicate that AFTC controller is effective for PTSS.