DSP-based fuzzy logic control of a positioning system - Experimental results

This paper presents some experimental results of a fuzzy logic control system for a high-performance positioning system with realtime digital implementation using digital signal processors (DSP). The PI-like fuzzy logic controller is developed using the fuzzy logic system with fuzzifier and defuzzifier. Seven fuzzy sets with normalized triangular membership functions are used for both input and output variables of the controller. The proposed control system is implemented using a DSP-based real time control testbed. Experimental results for two-dimensional contour following control are presented. The effects of sampling frequency, speed and payload variations are discussed. The results demonstrate the effectiveness of the proposed control system, especially at high speed with payload variations.