Sensor less fuzzy logic tracking control for a servo system with friction and backlash

Abstract

The tracking problem for an electrical actuator consisting of a DC motor and a reducer part (load) operating under uncertainty conditions due to friction and backlash is addressed. The Mamdani type fuzzy logic control will be designed to enforce the load position to track a prespecified reference trajectory. Since it is assumed that the dynamic model is not available, Lyapunov stability theory coupled together with the comparison principle will be used to conclude stability of the closed-loop system.