BANG-BANG BASED FUZZY CONTROLLER FOR TIME-OPTIMAL AND MINIMUM CHATTERING SERVO SYSTEMS

This paper addresses a new approach, Optimal Path Estimation Method (OPEM), to implement the time optimal bang-bang control. The method is based on feedback information obtained by estimating the distance from the present state to the switching surface along the optimal trajectory. A fuzzy central algorithm is used for the implementation of the control logic. The method is able to eliminate the chattering phenomenon common to the conventional trajectory following controller, and it is shown that the system trajectory will eventually enter a finite region around the target point and stay in the region from then on. It is also shown that the size of the final region around the target point is determined by the controller configuration. The advantages of the proposed method over traditional Bang-Bang control method are illustrated by numerical simulations of a servomotor system.