This paper proposes a discrete-time fuzzy control for a general class of electrically driven mechanical systems. Firstly, a discrete-time model is derived to define an extended error variable, such that asymptotic tracking is assured when the extended error is enforced at zero. Then, a fuzzy inference system is proposed by considering the extended error and its discrete-time generalized-order integral. Finally, the controller is proposed as the combination of the fuzzy rules consequences, which are dynamically adapted to produce a precise tracking. The closed-loop stability is analyzed in the Lyapunov framework, and an experimental assessment is conducted to show the reliability of the proposed approach.

中文翻译：

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电驱动机械系统的离散时间分数模糊控制

本文提出了一种用于一般类电动机械系统的离散时间模糊控制。首先，导出一个离散时间模型来定义一个扩展误差变量，这样当扩展误差为零时，可以确保渐近跟踪。然后，提出了一种考虑扩展误差及其离散时间广义阶积分的模糊推理系统。最后，控制器被提出作为模糊规则结果的组合，动态调整以产生精确的跟踪。在Lyapunov框架中分析了闭环稳定性，并进行了实验评估以证明所提出方法的可靠性。