The Adaptive Fuzzy Control Of Mechatronic Plants

After reviewing of adaptive fuzzy control, this dissertation have had a series studies on the optimal identifiers of fuzzy logic systems, the control methods of indirect adaptive fuzzy control and direct adaptive fuzzy control, the applies of adaptive fuzzy control, and have made some results.1. When training the parameters of fuzzy logic systems at identifiers, we always use steepest descent method which has follow properties: simplicity, slow convergence that is slower when it is nearer to limited point. But conjugate gradient method have the properties of simplicity, easy realization and quicker convergence than steepest descent method, so it will be actual and has some advantages to use conjugate gradient method.2. After studying deeply, this dissertation has strong improved the designed methods of indirect adaptive fuzzy control and direct adaptive fuzzy control such as improving the structure of adaptive fuzzy control systems, improving the stability and dynamic properties and robustness, simplifying the designed method. The former adopts a complicated supervisory control to keep the systems' stability, adopts integral (I) type adaptive law and two strategies to adjust the parameters, but this dissertation proves that the adaptive fuzzy control systems can be expected to be stable without supervisory control and puts forward robust integral (RI) type adaptive law, robust proportional integral (RPI) type adaptive law, robust proportional integral differential (RPID) type adaptive law and adopts one strategy to adjust the parameters. The studies of real-time control of adaptive fuzzy control systems and how to spread out the range of plants are also contained in this dissertation.3. People have strong interesting in the applies of adaptive fuzzy control that are just in beginning period because of its imperfect and difficult realization, as a examination of the theories and the applied examples, this dissertation has some emulations and experiments (?) some mechatronic plants such as parallel robots, inverted pendulum and servo systems of RHINO robot and has made some fine results.