This paper proposes the use of gain scheduling as a method of controlling a servo system with hard non-linear elements. The servo controls two elements of a tracker mounted on a ship at sea. There is stiction at the zero velocity point and non-linear friction against the motion of each tracker axis. A dual feedback loop control structure is employed. Fuzzy logic is used to provide smoothly varying non-linear scheduling functions to map the velocity of the servo relevant to the deck of the ship onto the rate loop controller parameters. Consideration is given to the use of a derivative signal as a secondary input to the fuzzy inference system. Results are presented which demonstrate that this method of controlling the servo system gives a dramatic improvement over the traditional linear control methodology for low velocity tracking performance. A linear PID controller is used in the outer loop and its design is also given some consideration.
@article{bwmeta1.element.bwnjournal-article-amcv12i2p209bwm,
author = {Brdy\'s, Mieczys\l aw and Littler, Jonathan},
title = {Fuzzy logic gain scheduling for non-linear servo tracking},
journal = {International Journal of Applied Mathematics and Computer Science},
volume = {12},
year = {2002},
pages = {209-219},
zbl = {1004.93502},
language = {en},
url = {http://dml.mathdoc.fr/item/bwmeta1.element.bwnjournal-article-amcv12i2p209bwm}
}
Brdyś, Mieczysław; Littler, Jonathan. Fuzzy logic gain scheduling for non-linear servo tracking. International Journal of Applied Mathematics and Computer Science, Tome 12 (2002) pp. 209-219. http://gdmltest.u-ga.fr/item/bwmeta1.element.bwnjournal-article-amcv12i2p209bwm/
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