Geodesic
Fuzzy logic gain scheduling for non-linear servo tracking
International Journal of Applied Mathematics and Computer Science, Tome 12 (2002) no. 2, pp. 209-219.

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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.
Keywords: tracking, servo control, gain scheduling, fuzzy logic, stiction friction, hard non-linearities
Mots-clés : elektrotechnika 
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     author = {Brdy\'s, M. A. and Littler, J. J.},
     title = {Fuzzy logic gain scheduling for non-linear servo tracking},
     journal = {International Journal of Applied Mathematics and Computer Science},
     pages = {209--219},
     publisher = {mathdoc},
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     number = {2},
     year = {2002},
     language = {en},
     url = {http://geodesic.mathdoc.fr/item/IJAMCS_2002_12_2_a7/}
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Brdyś, M. A.; Littler, J. J. Fuzzy logic gain scheduling for non-linear servo tracking. International Journal of Applied Mathematics and Computer Science, Tome 12 (2002) no. 2, pp. 209-219. http://geodesic.mathdoc.fr/item/IJAMCS_2002_12_2_a7/