# Fuzzy logic gain scheduling for non-linear servo tracking

Mieczysław Brdyś; Jonathan Littler

International Journal of Applied Mathematics and Computer Science (2002)

- Volume: 12, Issue: 2, page 209-219
- ISSN: 1641-876X

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topBrdyś, Mieczysław, and Littler, Jonathan. "Fuzzy logic gain scheduling for non-linear servo tracking." International Journal of Applied Mathematics and Computer Science 12.2 (2002): 209-219. <http://eudml.org/doc/207581>.

@article{Brdyś2002,

abstract = {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.},

author = {Brdyś, Mieczysław, Littler, Jonathan},

journal = {International Journal of Applied Mathematics and Computer Science},

keywords = {servo control; gain scheduling; stiction friction; tracking; hard non-linearities; fuzzy logic},

language = {eng},

number = {2},

pages = {209-219},

title = {Fuzzy logic gain scheduling for non-linear servo tracking},

url = {http://eudml.org/doc/207581},

volume = {12},

year = {2002},

}

TY - JOUR

AU - Brdyś, Mieczysław

AU - Littler, Jonathan

TI - Fuzzy logic gain scheduling for non-linear servo tracking

JO - International Journal of Applied Mathematics and Computer Science

PY - 2002

VL - 12

IS - 2

SP - 209

EP - 219

AB - 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.

LA - eng

KW - servo control; gain scheduling; stiction friction; tracking; hard non-linearities; fuzzy logic

UR - http://eudml.org/doc/207581

ER -

## References

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## Citations in EuDML Documents

top- Anis Ahmed, Mieczyslaw Brdys, Servo tracking of targets at sea
- Moêz Soltani, Abdelkader Chaari, Fayçal Ben Hmida, A novel fuzzy c-regression model algorithm using a new error measure and particle swarm optimization
- Marlene Arangú, Miguel A. Salido, A fine-grained arc-consistency algorithm for non-normalized constraint satisfaction problems

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