Fuzzy Control Type 2 using a Lyapunov function

Abstract

In the development of this work a hybrid controller is presented to regulate the speed and position of a servomotor that combines an intelligent control technique and a classic control; a candidate function of Lyapunov is proposed and analyzed to ensure the stability of the controller. The results are compared with a similar control technique applied to the same system. This work presents the design of a controller that uses a Lyapunov candidate function to systematically obtain the rules of a fuzzy type 2 controller. The design of the controller rule base uses only the error signals and the error derivative. Once the fuzzy type 2 controller is designed, the control law that will allow the tracking of a sinusoidal reference is determined. Likewise, the performance analysis is presented to determine the value of the separation interval of the type 2 membership functions.