1 / 10

Comparison of classical state space control and fuzzy control

Comparison of classical state space control and fuzzy control. Felix Bierbaum. State space control. Based on mathematical model of the physical system Continuous time or discrete time Laplace transforms or z-transforms. Fuzzy Control. Based on rules No explicit mathematical model needed

thanh
Download Presentation

Comparison of classical state space control and fuzzy control

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. Comparison of classical state space control and fuzzy control Felix Bierbaum

  2. State space control • Based on mathematical model of the physical system • Continuous time or discrete time • Laplace transforms or z-transforms

  3. Fuzzy Control • Based on rules • No explicit mathematical model needed • Always discrete time

  4. Example: Roll bite

  5. Mathematical model

  6. Block diagram of state space controller

  7. Membership function for fuzzy variables Fuzzy sets HEIGT: Low (L), Little Low (LL), OK, Little High (LH) and High (H) ANGLE: Negative (N), Negative small (NS), Zero (Z), Positive small (PS) and Positive LEFT: Down (LD), Little Down (LLD), Still (LS), Little up (LLU) and Up (LU) LEFT: Down (RD), Little Down (RLD), Still (RS), Little up (RLU) and Up (RU)

  8. and N NS Z PS P L LU/RU LLU/RU LLU/RLU LU/RLU LU/RU LL LS/RU LS/RLU LLU/RS LLU/RS LU/RLU OK LD/RU LLD/RLU LS/RS LLU/RLD LU/RD LH LD/RLD LLD/RS LLD/RLD LS/RLD LLD/RD H LD/RD LD/RLD LLD/RLD LLD/RD LD/RD Rule base

  9. Height of roll bite [m] vs. time [s] using state space controller Height of roll bite [m] vs. time [s] using fuzzy controller Simulation results

  10. Better performance Mathematical model needed Metrics for evaluation (command tracking, dynamic stiffness...) Good performance No mathematical model needed No metrics for evaluation Conclusions Fuzzy Control State space control

More Related