On using fuzzy logic to integrate learning mechanisms in an electro-hydraulic system. II. Actuator's position control

In Part I of this paper, fuzzy modeling showed its potential to describe the behavior of the electro-hydraulic system. To verify the possibilities of its application for the system’s learning control, two inverse-model compensation schemes were implemented. This paper describes and discusses the experimental results obtained, showing the feasibility and effectiveness of the learning controllers in: generalizing their previously acquired knowledge to possible new trajectories, their ability to learn new rules and update their fuzzy models while functioning, and how they compensate changes in the system’s dynamics caused by the variation of the parameters and/or environment perturbations on it.