Optimized P-PI Fuzzy Logic Controller of a Positioning Mechanism with Strain Wave Gearing

Abstract

Positioning mechanisms with strain wave gearing have been extensively used in many industrial applications. Besides to the friction of the servo actuator, angular transmission error and the elastic behavior of the transmission gear deteriorate the control performance. In this paper, a design of a proportional controller cascaded with an optimized fuzzy proportional plus integral controller (P-PIFLC) has been proposed to preserve the displacement according to the reference. The effectiveness of the proposed controller has been verified using MATLAB/SIMULINK simulator and the results were compared with those obtained using conventional P-PI controller. The results show the superiority of the P-PIFLC controller over the conventional P-PI.