Wahyudi, Martono and ., Purtojo and Akmeliawati, Rini
(2010)
Fuzzy-based NCTF control system of point-to-point (PTP) linear positioning system.
In: IIUM Research, Innovation & Invention Exhibition (IRIIE 2010), 26 - 27 January 2010, Kuala Lumpur.
Abstract
Nominal characteristic trajectory following (NCTF) controller, which consists of an nominal
characteristic trajectory (NCT) and a compensator, is a practical controller since its design is only based
on a very simple open-loop experiment. The objective of the compensator in NCTF controller is to make
an object motion follows the NCT and to end the motion at the origin. Its simplicity even more increased
by the introduction of fuzzy compensator compared to trial and error original PI compensator. The
proposed fuzzy compensator is practical since its all design parameters are based on NCT information and
hardware specifications used; which are sensor resolution and actuator rated input; only. Trial and error or
uncertain parameters value are completely eliminated. By using a linear positioning system, control
performance of the proposed compensator and its robustness are examined experimentally using single
axis linear positioning table. The results show that the proposed compensator is effective for the entire
displacement range and able to force object motion as fast as determined by the NCT. Proposed
compensator has consistently outperformed the PI and existed fuzzy compensators.
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