Nonlinear Servo Adaptive Fuzzy Tracking

Abstract

An algorithm for tracking time-varying references for a nonlinear second order uncertain servo is proposed. Uncertainties in nonlinear functions associated to the state and uncertainties on the servo gain are counteracted using a desired adaptive fuzzy compensator plus a linear proportional derivative plus feedforward compensation. A depart from existing approaches is the fact that the proposed algorithm is not based on switching terms and as consequence chattering is avoided. Stability is proved using the second Lyapunov method and performance is evaluated through experiments in a laboratory prototype.