Volume 1, Number 2 (2016)
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Home > Journals > SCIREA Journal of Electrics, Communication > Archive > Paper Information

Trajectory Control of a Variable Loaded Servo System by using Fuzzy Iterative Learning PID Control

Volume 1, Issue 2, December 2016    |    PP. 85-98    |PDF (691 K)|    Pub. Date: December 27, 2016
174 Downloads     1963 Views  

Author(s)
Omer Aydogdu, Department of Electrical and Electronics Engineering, Selcuk University, Alaeddin Keykubat Campus, 42075, Selcuklu, Konya,Turkey.
Mehmet Latif Levent, Department of Electrical and Electronics Engineering, Selcuk University, Alaeddin Keykubat Campus, 42075, Selcuklu, Konya,Turkey.

Abstract
In this study, trajectory control of the Variable Loaded Servo (VLS) system is performed by using a Fuzzy Logic based Iterative Learning Control (ILC) method. In the study, a Iterative Learning PID (IL-PID) Controller is used as the iterative learning control structure. Also, a fuzzy adjustment mechanism has been added to the control system for specify the initial parameter of the IL-PID controller. So, with combining the fuzzy logic based parameter adjustment mechanism and the IL-PID controller, Fuzzy Iterative Learning PID (Fuzzy IL-PID) controller is designed to improving the system performance. In the designed system, thanks to the fuzzy adjustment mechanism, the IL-PID controller parameters such as Kp, Ki, and Kd values are automatically adjusted to the appropriate values initially. To illustrate the effectiveness of the proposed fuzzy IL-PID controller, trajectory control of the variable loaded servo system was performed by using both Fuzzy PID and Fuzzy IL-PID control methods under the same conditions separately, and the obtained results were compared. It is seen from the results, the proposed Fuzzy IL-PID control method is to better compensate the system effect as time varying loads and has reduced the steady-state error more than other method in iterations progresses.

Keywords
Fuzzy PID control, Fuzzy IL-PID control, Trajectory control, Variable loaded servo system

Cite this paper
Omer Aydogdu, Mehmet Latif Levent, Trajectory Control of a Variable Loaded Servo System by using Fuzzy Iterative Learning PID Control, SCIREA Journal of Electrics, Communication. Vol. 1 , No. 2 , 2016 , pp. 85 - 98 .

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