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

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