A fuzzy-model-based variable structure control for robot arms: theory and experiments

2005 ◽  
Author(s):  
Chih-Lyang Hwang ◽  
Shau-Fu Chao
Keyword(s):  
Fuzzy Model ◽  
Variable Structure Control ◽  
Variable Structure ◽  
Structure Control ◽  
Model Based ◽  
Robot Arms ◽  
Theory And Experiments

Fuzzy variable structure control based on a Takagi-Sugeno model for permanent-magnet synchronous motors

2009 ◽  
Vol 223 (6) ◽  
pp. 773-783 ◽  
Author(s):  
X Z Zhang ◽  
Y N Wang
Keyword(s):  
Permanent Magnet ◽  
Permanent Magnet Synchronous Motor ◽  
Fuzzy Variable ◽  
Fuzzy Model ◽  
Variable Structure Control ◽  
Variable Structure ◽  
Permanent Magnet Synchronous Motors ◽  
Structure Control ◽  
Non Linear System ◽  
Takagi Sugeno

A fuzzy variable structure control (FVSC) scheme based on a Takagi-Sugeno (T-S) model is proposed in this paper for a permanent-magnet synchronous motor (PMSM) drive system in order to solve the speed tracking problem. A T-S fuzzy model is first formed to represent the non-linear system of the PMSM. To convert the tracking control into a stabilization problem, a new control design is proposed to define the internal desired states. Then, an FVSC controller for the PMSM system with parameter variation and load disturbances is designed on the basis of this fuzzy model. The FVSC scheme can drive the dynamics of the PMSM into a designated sliding surface in finite time, and guarantee the property of asymptotical stability. It is also shown that information on the upper bound of modelling errors, as well as on perturbations, is not required when using the FVSC controller. The performance of the proposed controller is verified by simulation and experimental results on a PMSM system.

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