Servomotor velocity tracking using adaptive fuzzy techniques

Article type: Research Article

Authors: Garrido, R. | Calderon, D. | Soria, A.

Affiliations: Departmento de Control Autom´tico, CINVESTAV, México DF, MEXICO

Note: [] Corresponding author. E-mail: garrido@ctrl.cinvestav.mx (R. Garrido).

Abstract: This paper proposes a stable adaptive fuzzy controller applied to a servomotor for velocity tracking of time-varying references. The control law is composed of two parts. The first part comprises a Proportional controller plus feedforward compensation. An adaptive fuzzy compensator corresponds to the second part and counteracts the effects of nonlinear loads. The only a priori information about the servomotor parameters is a nominal value of the voltage input gain. A depart from current adaptive adaptive controllers is the fact that the proposed control law does not rely on a switching supervisor controller then avoiding chattering. Moreover, the desired time varying reference feeds the membership functions instead of using the measured velocity, which is contaminated by noise. In this way, less measurement noise is injected to the closed loop system. The Lyapunov stability method allows concluding uniform ultimate boundedness of the closed loop system solutions. Experiments performed on a laboratory prototype allow comparing the proposed approach against a Proportional Integral controller endowed with feedforward compensation.

Keywords: Fuzzy systems, Adaptive control, Velocity control, Servosystems, Real-Time control

DOI: 10.3233/IFS-2009-0428

Journal: Journal of Intelligent & Fuzzy Systems, vol. 20, no. 4, 5, pp. 201-209, 2009