TY - GEN A1 - Brdyś, Mieczysław A. A1 - Littler, Jonathan J. A2 - Korbicz, Józef - red. A2 - Uciński, Dariusz - red. PB - Zielona Góra: Uniwersytet Zielonogórski N2 - This paper proposes the use of gain scheduling as a method of controlling a servo system with hard non-linear elements. The servo controls two elements of a tracker mounted on a ship at sea. There is stiction at the zero velocity point and non-linear friction against the motion of each tracker axis. A dual feedback loop control structure is employed. N2 - Fuzzy logic is used to provide smoothly varying non-linear scheduling functions to map the velocity of the servo relevant to the deck of the ship onto the rate loop controller parameters. Consideration is given to the use of a derivative signal as a secondary input to the fuzzy inference system. N2 - Results are presented which demonstrate that this method of controlling the servo system gives a dramatic improvement over the traditional linear control methodology for low velocity tracking performance. A linear PID controller is used in the outer loop and its design is also given some consideration. L1 - http://www.zbc.uz.zgora.pl/Content/58929/AMCS_2002_12_2_8.pdf L2 - http://www.zbc.uz.zgora.pl/Content/58929 KW - tracking KW - servo control KW - gain scheduling KW - fuzzy logic KW - stiction friction KW - hard non-linearities T1 - Fuzzy logic gain scheduling for non-linear servo tracking UR - http://www.zbc.uz.zgora.pl/dlibra/docmetadata?id=58929 ER -