I. Škrjanc (Slovenia)
Inverse Fuzzy Model, Trajectory Tracking, PredictiveControl
In this paper a new reference tracking control algorithm based on inverse fuzzy model combined with predictive control approach will be presented. The main goal of our approach is to obtain the control law which will result in a good reference tracking also in the case of nonlinear dynamics. The control scheme is combined of the feed forward and feed-back control loop. The feed-forward part of the scheme is based on inverse fuzzy model of the plant. This part compensates the nonlinearities of the plant and force the output of the system close to the reference trajectory. The feed-back control part is based on the fuzzy model which is used to predict the tracking-error and consequently to reduce the tracking error.
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