Fuzzy modelling and tracking control of nonlinear systems

Authors:
F. Mei;Z. Man;T. Nguyen
Affiliations:
Department of Electrical Engineering and Computer Science University of Tasmania, GPO Box 252-65, Hobart, TAS 7001, Australia;Department of Electrical Engineering and Computer Science University of Tasmania, GPO Box 252-65, Hobart, TAS 7001, Australia;Department of Electrical Engineering and Computer Science University of Tasmania, GPO Box 252-65, Hobart, TAS 7001, Australia
Venue:
Mathematical and Computer Modelling: An International Journal
Year:
2001

Citing 4
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Abstract

This paper presents a fuzzy modelling and tracking control methodology for complex systems by combining the merits of fuzzy logic and conventional linear control theory. Here, fuzzy logic is used to formulate a system model by aggregating a set of linearized local subsystems which identify the nonlinear system approximately, and a fuzzy feedback controller is designed by use of conventional linear feedback theory and fuzzy reasoning. A simulation example of a one-link rigid robotic manipulator is given to demonstrate the validity of the proposed control scheme. It is shown that the fuzzy model can be simplified, and good tracking control performance can be achieved by choosing appropriate fuzzy roles.