Fully tune adaptive fuzzy control for motor-toggle servomechanism

An adaptive fuzzy control (AFC) system is proposed to control a nonlinear motor-mechanism coupling system, which is a toggle mechanism driven by a permanent magnet (PM) synchronous servo motor. In the proposed AFC system, a fuzzy controller is the main tracking controller that is used to mimic an ideal feedback linearization control law and a compensated controller is proposed to compensate for shortcomings in the fuzzy control process. Moreover, an on-line tuning methodology, which is derived to fully tune the premise and consequence parts of fuzzy rules in a fuzzy basis function (FBF) network, is proposed. Furthermore, simulated and experimental results due to periodic step command verify that the proposed control systems can achieve favorable tracking ability, and is robust with regard to parameter variation.