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Fuzzy control for linear plants with uncertain output backlashes.

¹Dept. of Electr. Eng., Nat. I-Lan Inst. of Technol.

IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics : a Publication of the IEEE Systems, Man, and Cybernetics Society

|February 2, 2008

Summary

This study introduces a novel fuzzy controller designed to manage systems with uncertain output backlash, ensuring stable performance without limit cycles. The controller effectively compensates for backlash delays and remains robust to parameter variations.

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Area of Science:

Control Systems Engineering
Fuzzy Logic Control
Nonlinear Systems

Background:

Systems with uncertain output backlash present significant challenges in achieving precise tracking performance.
Traditional control methods often require complex compensation mechanisms or backlash inverses, which can be difficult to implement or tune.

Purpose of the Study:

To develop a fuzzy controller that implicitly compensates for uncertain output backlash without explicit inverse models.
To ensure stable system operation without limit cycles despite the presence of backlash.
To enhance controller robustness against variations in backlash and plant parameters.

Main Methods:

Design of a fuzzy control mechanism to inherently address the delay effects of output backlash.
Implicit compensation strategy integrated within the fuzzy logic framework.
Extension of the approach for two-input two-output (TITO) linear plants with output backlash.

Main Results:

The proposed fuzzy controller effectively compensates for uncertain output backlash, leading to good tracking performance.
Demonstrated stability of the controlled system without limit cycles.
The controller exhibits robustness to variations in backlash parameters and plant dynamics.
Successful application to linear, nonlinear, and experimental amplifier-motor systems.

Conclusions:

The developed fuzzy controller offers an effective and robust solution for systems with uncertain output backlash.
The implicit compensation approach simplifies controller design and improves performance.
The methodology is applicable to both single-input single-output (SISO) and TITO systems.