A new fuzzy logic learning control scheme for repetitive trajectory tracking problems

Authors:
Jian-Xin Xu;Jing Xu
Affiliations:
Electrical and Computer Engineering Department, National University of Singapore, 10 Kent Ridge Crescent, Singapore 119260, Singapore;Electrical and Computer Engineering Department, National University of Singapore, 10 Kent Ridge Crescent, Singapore 119260, Singapore
Venue:
Fuzzy Sets and Systems - Theme: Fuzzy control
Year:
2003

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Abstract

In this paper, we consider repeatable tracking control tasks using a new control approach--PD type fuzzy logic learning control (FLLC). FLLC integrates two main control strategies: fuzzy logic control as the basic control part and learning control as the refinement part. The new FLLC is constructed by simply adding an iterative learning mechanism to a fuzzy PD controller. The incorporation of the learning function into fuzzy PD controllers ensures exact tracking because it completely nullifies the effects of reference signal and periodic disturbances on the tracking error. Through the rigorous proof based on energy function and functional analysis, we show that the proposed FLLC system achieves the following novel properties: (1) the tracking error sequence converges uniformly to zero; (2) learning control sequence converges to the desired control profile almost everywhere.