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Robust stabilizing controller design for Takagi-Sugeno fuzzy descriptor systems under state constraints and actuator saturation

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FUZZY SETS AND SYSTEMS 2017年 329卷 77-90页

作者： Quoc Viet Dang Vermeiren, Laurent Dequidt, Antoine Dambrine, Michel Univ Valenciennes & Hainaut Cambresis LAMIH UMR CNRS 8201 F-59313 Valenciennes France

The aim of this paper is to present a new framework for designing robust controllers for uncertain nonlinear systems described by Takagi-Sugeno fuzzy descriptor systems and subject to input and state constraints. For this, a novel structure of modified parallel distributed compensation control laws is proposed. The controller parameters can be obtained through the numerical resolution of an optimization problem with linear matrix inequality constraints derived from Lyapunov's stability theory and the choice of an original Lyapunov function. This ensures the stabilization of the closed-loop system and the respect of the state and input constraints regionally. The technique is illustrated through three numerical examples. (C) 2017 Elsevier B.V. All rights reserved.

关键词： Takagi-Sugeno fuzzy descriptor systems Actuator saturation parallel distributed compensation Stability Linear matrix inequality

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On the Fuzzy Model Predictive Control of Interconnected Nonlinear Systems

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ARABIAN JOURNAL FOR SCIENCE AND ENGINEERING 2017年第7期42卷 2759-2776页

作者： Dalhoumi, Latifa Chtourou, Mohamed Djemel, Mohamed Univ Sfax Natl Sch Engn Sfax Control & Energy Management Lab PB 1173 Sfax 3083 Tunisia

The present paper deals with a new fuzzy strategy of model-based predictive control for nonlinear systems that are assumed to be interconnected (INS). Each subsystem, supposed nonlinear (NSS), is represented by a Takagi-Sugeno fuzzy model where fuzzy rule conclusions are linear state space models. The proposed control strategy consists of the association of a set of subcriterion. The defined criteria have to be optimized for all NSSs that formulate the considered INS. In fact, using parallel distributed compensation principal, a fuzzy predictive controller is developed where fuzzy rule conclusions are local control laws, where each one is the result of the optimization of the corresponding subcriteria. The global control law applied for each NSS is the fusion of local control ones. The feasibility and the performance of the proposed strategy is shown through two examples.

关键词： Interconnected nonlinear systems Nonlinear subsystems Model predictive control Fuzzy model predictive control Takagi-Sugeno fuzzy models parallel distributed compensation

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T-S Fuzzy Control with Parameter Estimation for Three-Phase Active Power Filter

T-S Fuzzy Control with Parameter Estimation for Three-Phase ...

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第30届中国控制与决策会议

作者： Shixi Hou Juntao Fei Yundi Chu College of IOT Engineering Hohai University

In this paper, active power filter is modeled based on T-S fuzzy theory to reduce the computational burden of the traditional method, and the fuzzy controller is constructed according to the principle of parallel distributed compensation. In view of the fact that T-S model parameters is difficult to obtain and vulnerable to external disturbance and parameter perturbation, an adaptive fuzzy controller with parameter estimation(AFCPE) is designed to ensure parameter estimation error asymptotically converges to zero and improve the reliability of the system and the robustness to parameter variations. The parameters are derived from the Lyapunov stability analysis to guarantee tracking performance and stability of the closed-loop system. Simulation studies in the MATLAB/SimPower Systems Toolbox demonstrate that the proposed control methods offer a good behavior in both steady state and transient operation during balanced and unbalanced load.

关键词： Active power filter T-S fuzzy parameter estimation parallel distributed compensation

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Intelligent Approaches for Control of Nonlinear Plants with Significant Time Delay 9

Intelligent Approaches for Control of Nonlinear Plants with ...

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9th IEEE International Conference on Intelligent Data Acquisition and Advanced Computing Systems - Technology and Applications (IDAACS)

作者： Yordanova, Snejana Tzvetkov, Plamen Tech Univ Sofia Sofia 1000 Bulgaria

ISBN: (纸本)9781538606971

The nonlinear plants with significant time delays are difficult to be controlled by classical means. In the present paper intelligent approaches are applied for the design of a nonlinear Smith predictor for compensation of the plant time delay based on a Takagi-Sugeno-Kang plant model and a fuzzy logic parallel distributed compensation (PDC). The design and the advantages of the PDC-Smith are illustrated in temperature control. The good compensation of both the plant time delay and nonlinearity results in faster system step responses in regard to a linear PI, a Smith and a PDC control systems.

关键词： genetic algorithms nonlinear plant parallel distributed compensation Takagi-Sugeno-Kang model temperature control time delay compensation

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Takagi-Sugeno fuzzy modelling and parallel distributed compensation control of conducting polymer actuators

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING 2010年第I1期224卷 41-51页

作者： Amiri-M, Amir-A Moavenian, M. Torabi Z, K. Ferdowsi Univ Mashhad Dept Mech Engn Mashhad Iran Univ Kashan Dept Mech Engn Kashan Iran

Conducting polymer actuators are used in a diverse range of applications including biomimetic robots and biomedical devices. In comparison to robotic joints, they do not have friction or backlash, but on the other hand, they have complicated electro-chemo-mechanical dynamics which makes modelling and control of the actuator really difficult. In addition they also have the disadvantages of creep, hysteresis, and highly uncertain and time-varying dynamics. In this paper a Takagi-Sugeno (T-S) fuzzy model is used to represent the uncertain dynamics of the actuator, and the resulted fuzzy model is validated using experimental data. A system that consists of fuzzy state feedback to a PI controller is designed on the basis of the obtained T-S fuzzy model using the parallel distributed compensation scheme. The sufficient conditions for the existence of such a controller are derived in terms of linear matrix inequalities. The obtained results show that the designed controller can achieve a good control performance despite the existence of uncertain actuator dynamics.

关键词： conducting polymer actuators polypyrrole Takagi-Sugeno fuzzy modelling proportional-integral controller parallel distributed compensation

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Fuzzy distributed cooperative tracking for a swarm of unmanned aerial vehicles with heterogeneous goals

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INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE 2016年第16期47卷 3803-3811页

作者： Kladis, Georgios P. Menon, Prathyush P. Edwards, Christopher Univ Cyprus Dept Elect & Comp Engn KIOS Res Ctr Intelligent Syst & Networks CY-1678 Nicosia Cyprus Univ Exeter Ctr Syst Dynam & Control Exeter Devon England

This article proposes a systematic analysis for a tracking problem which ensures cooperation amongst a swarm of unmanned aerial vehicles (UAVs), modelled as nonlinear systems with linear and angular velocity constraints, in order to achieve different goals. A distributed Takagi-Sugeno (TS) framework design is adopted for the representation of the nonlinear model of the dynamics of the UAVs. The distributed control law which is introduced is composed of both node and network level information. Firstly, feedback gains are synthesised using a parallel distributed compensation (PDC) control law structure, for a collection of isolated UAVs;ignoring communications among the swarm. Then secondly, based on an alternation-like procedure, the resulting feedback gains are used to determine Lyapunov matrices which are utilised at network level to incorporate into the control law, the relative differences in the states of the vehicles, and to induce cooperative behaviour. Eventually stability is guaranteed for the entire swarm. The control synthesis is performed using tools from linear control theory: in particular the design criteria are posed as linear matrix inequalities (LMIs). An example based on a UAV tracking scenario is included to outline the efficacy of the approach.

关键词： Graph theory multi-agent systems consensus parallel distributed compensation Takagi-Sugeno fuzzy model linear matrix inequalities

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A new method for control of nonlinear networked systems

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APPLIED SOFT COMPUTING 2016年 45卷 197-206页

作者： Rahmani, Behrooz Markazi, Amir H. D. Univ Yasuj Dept Mech Engn Yasuj Kohgiluyeh Va B Iran Iran Univ Sci & Technol Sch Mech Engn Tehran Iran

Networked control of a class of nonlinear systems is considered. For this purpose, the previously proposed variable selective control (VSC) methodology is extended to the nonlinear systems. This extension is based upon the decomposition of the nonlinear system to a set fuzzy-blended locally linearized subsystems, and further application of the VSC methodology to each subsystem. Using the idea of parallel distributed compensation (PDC) method, the closed-loop stability of the overall networked system is guaranteed, using new linear matrix inequalities (LMIs). For the real-time implementation, real-time control signals are constructed for every entry of pre-specified vector of time delays, which is selected based on the presumed upper-bound of the network time delay. Similar to the traditional packet-base control methodology, such control signals are then packed as a control-side packet and transmitted back to a time delay compensator (TDC) located on the plant-side of the network. According to the most recent network time delay, the TDC selects just one entry of the control vector and applies it to the actuator through a zero order hold element. A sufficient condition for closed-loop asymptotic stability is determined. Simulation studies on nonlinear benchmark problems demonstrate the effectiveness of the proposed method. (C) 2016 Elsevier B.V. All rights reserved.

关键词： Nonlinear networked control system Nonlinear variable selective control Linear matrix inequality Takagi-Sugeno fuzzy modeling parallel distributed compensation

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Takagi-Sugeno Model-based Steering Control for Autonomous Vehicles with Actuator Saturation

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IFAC-PapersOnLine 2016年第5期49卷 206-211页

作者： Nguyen, Anh-Tu Sentouh, Chouki Popieul, Jean-Christophe Laboratory LAMIH UMR CNRS 8201 University of Valenciennes France

This paper is devoted to the development of a novel control law for an autonomous vehicle. The control goal is to perform lane keeping under multiple constraints, namely actuator saturation of the steering system, roads with unknown curvature, and uncertain lateral wind force. Such system constraints will be explicitly considered in the control design procedure. To achieve this goal, we propose a novel constrained Takagi-Sugeno control method using non-quadratic Lyapunov stability framework. The obtained non-parallel distributed compensation controller is not only able to handle various system constraints but also a large variation range of vehicle speed. Especially, by means of the well-known Taylor's approximation method we can significantly reduce the numerical complexity of the proposed control method to ease the real-time control implementation. The control synthesis conditions are expressed in terms of linear matrix inequalities which can be efficiently solved with available solvers. The effectiveness of the proposed method is demonstrated with different simulation scenarios. © 2016

关键词： Automobile steering equipment Actuators Feedback control Linear matrix inequalities Modal analysis Numerical methods Real time control Robustness (control systems) Steering Actuator saturations Autonomous Vehicles Lane keeping control Numerical complexity parallel distributed compensation Takagi Sugeno fuzzy systems Takagi Sugeno modeling Taylor's approximation

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Improvements on PDC Controller Design for Takagi-Sugeno Fuzzy Systems with State Time-Varying Delays

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IFAC-PapersOnLine 2016年第5期49卷 200-205页

作者： Bourahala, Fayçal Guelton, Kevin Khaber, Farid Manamanni, Noureddine QUERE Laboratory Electrotechnic Department Ferhat Abbas University Setif19000 Algeria CReSTIC EA3804 University of Reims Champagne-Ardenne 51687 Reims Cedex 2 BP1039 France

This paper deals with the controller design for a class of T-S fuzzy model with state time-varying delays. By choosing a convenient augmented Lyapunov-Krasovskii functional and employing a parallel distributed compensation (PDC) control law including both memoryless and delayed state feedback, new delay dependent sufficient conditions for the stabilization of TS fuzzy model with time-varying delay are derived in terms of linear matrix inequalities (LMIs). By taking into account the bounds of the time varying delays and its maximal rate of variation, the proposed LMI-based conditions guarantee the closed-loop asymptotic stability of the considered class of delayed T-S fuzzy systems. Finally, a numerical example is given to illustrate the effectiveness of the proposed controller design methodology and the conservatism improvement regarding to previous results. © 2016

关键词： Time varying control systems Asymptotic stability Controllers Design Feedback control Fuzzy systems Linear matrix inequalities Lyapunov functions State feedback Time delay Delay dependent conditions Delayed state feedback Linear Matrix Inequalities (LMIs) Lyapunov Krasovskii functionals parallel distributed compensation Takagi Sugeno fuzzy models Takagi Sugeno fuzzy systems Time varying delays

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Counterpart of Advanced TS discrete controller without matrix inversion

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IFAC-PapersOnLine 2016年第5期49卷 182-187页

作者： Laurain, Thomas Lauber, Jimmy Palhares, Reinaldo LAMIH UMR/CNRS 8201 University of Valenciennes France Department of Electronics Engineering Federal University of Minas Gerais Belo Horizonte Brazil

This paper aims to present a systematic methodology for designing a Counterpart of an Advanced Takagi-Sugeno (CATS) discrete controller. Advance controllers for nonlinear systems under Takagi-Sugeno representation have been designed for years using efficient control laws such as the non-PDC (parallel distributed compensation) controller. In terms of stabilization, that kind of controllers is a powerful tool which allows outperforming the classical PDC results using non quadratic Lyapunov function. However, in spite of these advantages, this control strategy presents a major inconvenient from real time implementation point of view: the use of a nonlinear matrix inversion at each sample time. In order to solve this problem, our paper presents a CATS controller design methodology to obtain an equivalent to the non-PDC controller without matrix inversion. Through a given procedure associated with a stability analysis, not only the efficiency is proved but also its validity. Finally, some simulation results will emphasize the originality and the usefulness of the proposed CATS controller. © 2016

关键词： Controllers Control theory Digital control systems Discrete time control systems Feedback control Lyapunov functions Real time control Advanced control Discrete time systems Non quadratic lyapunov functions non PDC parallel distributed compensation Real time implementations Systematic methodology Takagi sugeno

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