Designing Type-1 and Type-2 Fuzzy Logic Controllers via Fuzzy Lyapunov Synthesis for nonsmooth mechanical systems

Authors:
Nohe R. Cazarez-Castro;Luis T. Aguilar;Oscar Castillo
Affiliations:
Departamento de Ciencias Basicas, Instituto Tecnologico de Tijuana, Calzada Tecnologico S/N, Tijuana, BC 22414, Mexico;Centro de Investigacion y Desarrollo de Tecnologia Digital, Instituto Politecnico Nacional, Av. del Parque No. 1310, Mesa de Otay, Tijuana, BC 22510, Mexico;Division de Estudios de Posgrado e Investigacion, Instituto Tecnologico de Tijuana, Calzada Tecnologico S/N, Tijuana, BC 22414, Mexico
Venue:
Engineering Applications of Artificial Intelligence
Year:
2012

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Abstract

In this paper, Fuzzy Lyapunov Synthesis is extended to the design of Type-1 and Type-2 Fuzzy Logic Controllers for nonsmooth mechanical systems. The output regulation problem for a servomechanism with nonlinear backlash is proposed as a case of study. The problem at hand is to design a feedback controller so as to obtain the closed-loop system in which all trajectories are bounded and the load of the driver is regulated to a desired position while also attenuating the influence of external disturbances. The servomotor position is the only measurement available for feedback; the proposed extension is far from trivial because of the nonminimum phase properties of the system. Performance issues of the Type-1 and Type-2 Fuzzy Logic Regulators that were designed are illustrated in experimental studies.