Fuzzy control for linear plants with uncertain output backlashes

In this correspondence, a new approach to design a fuzzy controller for systems with uncertain output backlash to have good tracking performance is presented. Without using a compensation mechanism or a backlash inverse, the fuzzy control mechanism is designed to implicitly compensate the delay effe...

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Bibliographic Details
Published in:IEEE transactions on cybernetics 2002-06, Vol.32 (3), p.373-380
Main Author: Tao, C.W.
Format: Article
Language:English
Subjects:
Actuators
Backlash
Control systems
Cybernetics
Delay
Design engineering
Fuzzy control
Fuzzy systems
Gears
Inverse
Limit-cycles
Mathematical model
Nonlinear control systems
PD control
Simulation
System performance
Tracking
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Summary:In this correspondence, a new approach to design a fuzzy controller for systems with uncertain output backlash to have good tracking performance is presented. Without using a compensation mechanism or a backlash inverse, the fuzzy control mechanism is designed to implicitly compensate the delay effect arising from an uncertain output backlash and to make the output backlash system stable without limit cycles. Also, the proposed fuzzy controller is presented to be insensitive to the variations of the backlash and system plant parameters. Moreover, the proposed approach is extended to design a fuzzy controller for a two-input two-output (TITO) linear plant with output backlash. The effectiveness of the designed fuzzy controller is illustrated by the simulation results on linear, low-order, nonlinear plants and the experimental results on an amplifier-motor system with a gear train.
ISSN:1083-4419
2168-2267
1941-0492
2168-2275
DOI:10.1109/TSMCB.2002.999813