Nano Science and Technology Institute
MSM 98
MSM 98
Technical Proceedings of the 1998 International Conference on Modeling and Simulation of Microsystems
Chapter 12: Applications: Pressure, Actuation, Navigation

Microsteping Control of Hybrid Stepper Motor Using Fuzzy Logic for Robotics Application

Authors:A.Z. Mohamed, A.M. Zaki
Affilation:Electronics Research Inst., EG
Pages:602 - 607
Keywords:microsteping, control, hybrid stepper motor, fuzzy logic, robotics
Abstract:The work on this paper focuses on the design of high accuracy and high performance of positioning tracking controller of th. Hybrid stepper system (HSM). realized for the application of direct drive robot (DDR). The control problems characterized by mathematical models exhibit significant nonlinearity and uncertainty. Also high tracking performance requires that the actual system trajectory matches the desired trajectory as close as possible. Fuzzy logic control (FLC) has been used widely in many practical and industrial applications with large degree of uncertainty and nonlinearity. The design of this position tracking system based on microstepping controlled HSM is achieved by implementation of FLC techniques. Simulation results have been carried out to test the performance of the controlled system.
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