Low Cost Fuzzy Control Solutions for Embedded Systems

Abstract: The paper presents low cost fuzzy control solutions (of Takagi-Sugeno type) for embedded systems dedicated to a class of servo-systems. The considered controllers are dedicated to a class of second- and third-order integral-type plants, specific to the field of electrical drives for mobile robots, which can be characterized in their simplified linearized forms by standard models. For these models even conventional linear control structures give satisfaction. There is presented a development method for the fuzzy controllers, based on the fact that fuzzy controllers can be, in some certain conditions, well approximated by linear controllers and, so, the Extended Symmetrical Optimum (ESO) method and the Modified Structure of ESO (MESO) method are applicable in this situation. The fuzzy controllers and the corresponding development method are validated by an application example that can correspond to the speed control of a servo-system meant for a mobile robot