Pneumatic motor; fuzzy logic controller; trajectory tracking.
In this study, trajectory tracking fuzzy logic controller (TTFLC) is proposed for the speed control of a pneumatic motor (PM). A third order trajectory is deﬁned to determine the trajectory function that has to be tracked by the PM speed. Genetic algorithm (GA) is used to ﬁnd the TTFLC boundary values of membership functions (MF) and weights of control rules. In addition, artiﬁcial neural networks (ANN) modelled dynamic behaviour of PM is given. This ANN model is used to ﬁnd the optimal TTFLC parameters by ofﬂine GA approach. The experimental results show that designed TTFLC successfully enables the PM speed track the given trajectory under various working conditions. The proposed approach is superior to PID controller. It also provides simple and easy design procedure for the PM speed control problem.