Time Domain Simulation of a Target Tracking System with Backlash Compensation

Table 1

Rule-base for the FLC with three inputs ($\widehat{e}\text{,}$$\dot{\widehat{e}}$, and LoSu) and one output (${\omega }_{2\text{desired}\mathrm{\hspace{0.17em}\hspace{0.17em}}\text{increment}}$).

			$\widehat{e}$
			NL	NM	NS	Z	PS	PM	PL
$\dot{\widehat{e}}$	LoSu = N	NL	Z	Z	Z	Z	Z	PS	PM
		NM	Z	Z	Z	Z	Z	PS	PM
		NS	Z	Z	Z	Z	PS	PM	PM
		Z	Z	Z	Z	Z	PM	PM	PL
		PS	Z	Z	Z	PS	PM	PL	PL
		PM	Z	Z	Z	PS	PL	PL	PL
		PL	Z	Z	Z	PM	PL	PL	PL
	LoSu = Z	NL	NL	NL	NL	NM	Z	PS	PM
		NM	NL	NL	NL	NS	Z	PS	PM
		NS	NL	NL	NM	NS	PS	PM	PM
		Z	NL	NM	NM	Z	PM	PM	PL
		PS	NM	NM	NS	PS	PM	PL	PL
		PM	NM	NS	Z	PS	PL	PL	PL
		PL	NM	NS	Z	PM	PL	PL	PL
	LoSu = P	NL	NL	NL	NL	NM	Z	Z	Z
		NM	NL	NL	NL	NS	Z	Z	Z
		NS	NL	NL	NM	NS	Z	Z	Z
		Z	NL	NM	NM	Z	Z	Z	Z
		PS	NM	NM	NS	Z	Z	Z	Z
		PM	NM	NS	Z	Z	Z	Z	Z
		PL	NM	NS	Z	Z	Z	Z	Z