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2008

Adaptive fuzzy control of a non-linear servo-drive: Theory and experimental results

11 years 7 months ago
Adaptive fuzzy control of a non-linear servo-drive: Theory and experimental results
Adaptive fuzzy control has been an active research area over the last decade and several stable adaptive fuzzy controllers have been proposed in the literature. Such controllers are generally based on feedback linearization and their parameters are updated by trackingerror-based adaptive laws, designed by Lyapunov synthesis. In this paper, different indirect adaptive schemes have been studied and compared by means of an experimental benchmark consisting of two coupled servo-drives. Parametric and structural changes are introduced to the controlled plant, in order to emphasize the advantages and limitations of the considered adaptive controllers. As the standard composite adaptation laws from the literature were found too sensitive to noise and unmodeled dynamics, a novel variant of the composite adaptation laws has been proposed, based on the filtered prediction error. Experimental results demonstrate that the proposed method improves the controller's tracking performance. r 2007...
Domenico Bellomo, David Naso, Robert Babuska
Added 10 Dec 2010
Updated 10 Dec 2010
Type Journal
Year 2008
Where EAAI
Authors Domenico Bellomo, David Naso, Robert Babuska
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