Fuzzy position control of motor plant with backlash

In this paper, we design a fuzzy system to compensate the delay due to backlash nonlinearity, the fuzzy compensator is constructed from some common-sense rule. We focuses on the feasibility of fuzzy logic controller (FLC) to stabilize the system with uncertain backlash. We prove that under certain c...

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Bibliographic Details
Main Authors: Nam Hoon Kim, Uk Youl Huh, Jin Geol Kim
Format: Conference Proceeding
Language:English
Subjects:
Applied sciences
Computer science
control theory
systems
Control system analysis
Control systems
Control theory. Systems
Delay
Electrical engineering. Electrical power engineering
Electrical machines
Exact sciences and technology
Fuzzy control
Fuzzy logic
Fuzzy systems
PD control
Position control
Proportional control
Regulation and control
Robust control
Uncertain systems
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Summary:In this paper, we design a fuzzy system to compensate the delay due to backlash nonlinearity, the fuzzy compensator is constructed from some common-sense rule. We focuses on the feasibility of fuzzy logic controller (FLC) to stabilize the system with uncertain backlash. We prove that under certain conditions the fuzzy compensator guarantees that the backlash output converges to the desired trajectory. Furthermore, the performance of the proposed controller is compared with that of convention proportional-derivative (PD) controllers. Base on the simulation result, it is found that the proposed controller can be a viable choice due to its robustness against parameter uncertainty.
DOI:10.1109/IECON.2004.1432323