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IEEE/ASME International Conference on Advanced Intelligent Mechatronics

作者： Azizan, H. Keshmiri, M. Jafarinasab, M. Isfahan Univ Technol Dept Mech Engn Esfahan Iran

ISBN: (纸本)9781457708398

This paper focuses on the designing of a stable model-based fuzzy controller for a six degrees of freedom (DOF) parallel manipulator with rotary actuators. This type of parallel manipulator has a challenging dynamics to control. Based on the nonlinear dynamical model of the system a Takagi-Sugeno fuzzy model of the system is presented through a combination of linear systems. The concept of parallel distributed compensation (PDC) is used to design a fuzzy controller from the Takagi-Sugeno fuzzy model of the manipulator. Stability of the designed fuzzy control system is guaranteed via Lyapunov approach. The sufficient conditions for the existence of an appropriate controller are presented in terms of Linear Matrix Inequalities (LMIs). To show the efficiency of the proposed approach, numerical simulations are performed for a typical system.

关键词： 6-DOF parallel manipulator Actuators Equations Joints Lyapunov approach Lyapunov matrix equations Manipulator dynamics Mathematical model Nonlinear dynamical systems Takagi-Sugeno fuzzy model actuators compensation control system synthesis distributed control dynamics control fuzzy control fuzzy control system stability fuzzy controller design linear matrix inequalities linear matrix inequalities linear system linear systems manipulator dynamics model stability nonlinear dynamical model nonlinear dynamical systems numerical analysis numerical simulation parallel distributed compensation rotary actuators stability

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New Delay-Dependent Stabilization conditions of T-S Fuzzy Systems With Time Varying Delay

New Delay-Dependent Stabilization conditions of T-S Fuzzy Sy...

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17th Mediterranean Conference on Control and Automation

作者： Gassara, Hamdi El Hajjaji, Ahmed Chaabane, Mohamed UPJV 7 Rue Moulin Neuf F-8000 Amiens France Sch Elect Engn Tunis Tunisia

ISBN: (纸本)9781424446841

This paper deals with the problem of delay-dependent stability and stabilization of Takagi-Sugeno (T-S) fuzzy systems with a time-varying delay. A new method which brings three great advantages for the T-S delay-dependent stabilization problem is developed. The first one is that this method is less conservative than other existing ones. The second one is the reduction of computational complexity when the number of IF-THEN rules r is big. The third advantage the delay-dependent stabilization conditions presented involve a single tuning parameter. The stabilization conditions are derived using single Lyapunov- Krasovskii Functional (LKF) combining the introduction of free-single matrices. Review some results are used to make these conditions in term of Linear Matrix Inequalities (LMIs) (which can be easily solved using existing solvers such as the LMI Toolbox in Mat lab). Two numerical examples are taken from the literature to show the advantages of the design procedures.

关键词： LMI parallel distributed compensation Lyapunov-Krasovskii Functional T-S fuzzy systems Stabilization Time-delay

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H∞Control for T-S Fuzzy System via Delayed State Feedback: Application to Two-Link Robotic System 7th

H∞Control for T-S Fuzzy System via Delayed State Feedback: ...

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7th International Conference on Advances in Control and Optimization of Dynamical Systems, ACODS 2022

作者： Datta, Rupak Dey, Rajeeb Adhikari, Nabanita Gu, Jason Farooq, Umar Asad, Muhammad Usman Department of Electrical Engineering National Institute of Technology Silchar788010 India Department of Electrical and Computer Engineering Dalhousie University Halifax Canada

This paper introduces a fuzzy control design method for nonlinear systems with H∞performance index. First, the Takagi-Sugeno (T-S) fuzzy model is employed to represent a nonlinear system. Next, based on the fuzzy model, a parallel distributed compensation (PDC) based delayed fuzzy controller is developed. The advantage of the proposed control design is that only a simple fuzzy controller is used in our approach without the feedback linearization technique. By constructing a suitable Lyapunov-Krasovskii functional (LKF) and using the Wirtinger-based inequality method, the proposed fuzzy control problem is designed in terms of linear matrix inequality (LMI) problem. Finally, the simulation result is presented to show the effectiveness of the proposed condition. © 2022 Elsevier B.V.. All rights reserved.

关键词： Fuzzy control Linear matrix inequality Lyapunov-Krasovskii functional parallel distributed compensation Takagi-Sugeno fuzzy model

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Efficient Control of Rotary Inverted Pendulum Systems with T-S Fuzzy Descriptor Models

Efficient Control of Rotary Inverted Pendulum Systems with...

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International Conference on Intelligent Systems and Networks, ICISN 2024

作者： Dao, Quy-Thinh Pham, Duc-Binh Nguyen, Thi-Van-Anh Motion Control and Applied Robotics Laboratory Hanoi University of Science and Technology Hanoi Viet Nam

ISBN: (纸本)9789819755035

This research addresses the challenge of controlling rotary inverted pendulum systems, which are inherently unstable and nonlinear. We propose a control approach that integrates the Takagi-Sugeno (T-S) fuzzy descriptor system with parallel distributed compensation (PDC) and Linear Matrix Inequalities (LMIs). The T-S fuzzy control system offers a flexible and adaptive means of managing complex dynamics by partitioning the system into multiple operating regions using fuzzy sets and linguistic rules. Stability theorems and decay rate analysis ensure robust and rapid convergence to stability performance. PDC facilitates the design of control strategies for systems with multiple subsystems, broadening the applicability of our proposed methodology. This research promises to advance the field of rotary inverted pendulum control, with potential applications in robotics, automation, and mechatronics, where precise and agile control is imperative in the face of inherent instability. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： decay rate fuzzy control linear matrix inequality parallel distributed compensation Takagi-Sugeno descriptor model

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Improved stabilization condition of delayed T-S fuzzy systems via an extended quadratic function negative-determination lemma

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CHAOS SOLITONS & FRACTALS 2023年第Part2期175卷

作者： Yang, Tianqing Zou, Runmin Liu, Fang Liu, Cai Sidorov, Denis Cent South Univ Sch Automat Changsha 410083 Hunan Peoples R China Irkutsk Natl Res Tech Univ Ind Math Lab Baikal Sch BRICS Lermontov Str 83 Irkutsk 664074 Russia

This paper focuses on the stability and stabilization problems of continuous-time T-S fuzzy systems (TSFS) with variable delay. A new augmented Lyapunov-Krasovskii functional (LKF) is established by combining the negative quadratic term with the alterable delay-product-integral term. To further improve the results, an extended quadratic function negative-determination (QFND) lemma is proposed to deal with delta(t)-related quadratic function in the LKF derivative. Subsequently, based on the parallel distributed compensation (PDC) technique, a bounded delay correlation stabilization criterion is derived. Finally, the proposed methods are applied to a numerical example and an inverted pendulum system to verify their effectiveness and superiority.

关键词： Stability and stabilization Quadratic function negative-determination lemma T-S fuzzy systems Variable delay parallel distributed compensation

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Controller design and stability analysis for spinning missiles via tensor product

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AEROSPACE SCIENCE AND TECHNOLOGY 2022年第0期130卷

作者： Zhou, Zhiming Liu, Zhen Pan, Yi Yi, Jianqiang Chinese Acad Sci Inst Automat Beijing 100190 Peoples R China

In this paper, the controller design and stability analysis for the parameters time-varying model of spinning missiles are investigated. A mathematical model for the spinning missile considering the flight parameters varying with time is proposed. Based on tensor product (TP) model transformation for the spinning missile, the parallel distributed compensation (PDC) state feedback controller is designed, and the stability of the controlled system is analyzed with the tool of linear matrix inequalities (LMIs). Numerical simulations with time-varying parameters are conducted to demonstrate the effectiveness of the proposed controller. The given controller can not only guarantee the steady performance but also the decoupling performance between pitch and yaw channels when used in the flight parameters time -varying spinning missiles.(c) 2022 Elsevier Masson SAS. All rights reserved.

关键词： Spinning missile Tensor product model transformation parallel distributed compensation Model filtering Stability analysis

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Fuzzy controller design for constant bottomhole pressure drilling under operational/physical constraints

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JOURNAL OF PETROLEUM SCIENCE AND ENGINEERING 2022年第0期212卷

作者： Gorjizadeh, H. Ghalehnoie, M. Negahban, S. Nikoofard, A. Shahrood Univ Technol Fac Min Petr & Geophys Engn Shahrood Iran Shahrood Univ Technol Fac Elect Engn Shahrood Iran KN Toosi Univ Technol Fac Elect Engn Dept Control & Syst Tehran Iran

This paper deals with the constant bottomhole pressure as one of the common techniques in Managed pressure drilling (MPD), a complex nonlinear process that employs various control strategies to regulate the bottomhole pressure. To have an accurate operation, the nonlinear controllers usually consider the exact model of the system, which leads to a complex structure that sophisticates their practical implementation due to resulting high computational load. In addition to low computational load, control methods must take into account physical/ operational constraints to be implemented in practice. Utilizing the T-S fuzzy modeling approach as well as the idea of the parallel distributed compensation, this paper constructs a simple fuzzy controller based on the system's exact model and proposes the stabilization criteria in the form of linear matrix inequalities. These criteria not only guarantee the system stability but also satisfy the available physical/operational limitations in the drilling process. We then introduce an optimization problem to obtain the controller gains and find the largest space in which the proposed controller ensures both operational restrictions and stability. The simulation results demonstrate that if the initial condition of the drilling process begins within the margins of the pore and fracture gradients, the bottomhole pressure converges to the desired reference value while the pressure window is not violated and the actuator is not saturated. Thanks to the unsaturated controller during the drilling process and also due to the inherent capabilities of fuzzy logic, in the proposed method, convergence occurs earlier than traditional methods while there is less steady-state error.

关键词： Actuator saturation Constant bottomhole pressure T-S fuzzy Modeling parallel distributed compensation Physical/operational constraints

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Dissipative Control for Single Flexible Joint Robotic System via T–S Fuzzy Modelling Approach ⁎

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IFAC-PapersOnLine 2022年第1期55卷 637-642页

作者： Rupak Datta Rajeeb Dey Nabanita Adhikari Department of Electrical Engineering National Institute of Technology Silchar 788010 India

The dissipativity analysis for single flexible joint robotic system via Takagi–Sugeno (T–S) fuzzy modelling technique is the main focus of this paper. Our aim is to design a delayed state feedback controller by using parallel distributed compensation (PDC) so that the considered system is asymptotically stable with a (Φ 1 , Φ 2 , Φ 3 )-γ- dissipative performance index. A delay-range-dependent strictly (Φ 1 , Φ 2 , Φ 3 ) -γ- dissipativity condition is derived in terms of linear matrix inequality (LMI) framework by constructing an appropriate Lyapunov– Krasovskii functional (LKF) and using higher order polynomial based integral inequality (HOPBII) to estimate its derivative. Finally, numerical simulation result is given to show the effectiveness of the proposed theoretical method.

关键词： Dissipativity analysis Takagi Sugeno fuzzy modelling parallel distributed compensation linear matrix inequality Lyapunov Krasovskii functional

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Robust Positively Invariant Polyhedral Sets and Constrained Control using Fuzzy T-S Models: a Bilinear Optimization Design Strategy ⁎

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IFAC-PapersOnLine 2020年第2期53卷 8013-8018页

作者： Carlos E.T. Dórea Eugenio B. Castelan Jackson G. Ernesto Universidade Federal do Rio Grande do Norte UFRN-CT-DCA 59078-280 Natal RN Brazil Universidade Federal de Santa Catarina UFSC-DAS FlorianÓpolis SC Brazil

We propose a numerical method to compute stabilizing state feedback control laws and associated polyhedral invariant sets for nonlinear systems represented by Fuzzy Takagi-Sugeno (T-S) models, subject to state and control constraints, and persistent disturbances. Sufficient conditions are derived under which a given polyhedral set is positively invariant under a parallel distributed compensation (PDC), in the form of bilinear algebraic inequalities. Then, a bilinear programming (BP) problem is proposed to compute the state feedback gains and an associated positively invariant polyhedron, with predefined complexity, which solve a constrained regulation problem for the Fuzzy T-S system. A numerical example illustrates the effectiveness of the method.

关键词： Fuzzy T-S models parallel distributed compensation Constrained Control Invariant Sets Bilinear Programming

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Guaranteed Cost Control For Constrained Takagi-Sugeno Fuzzy Systems

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IFAC Proceedings Volumes 2009年第19期42卷 325-330页

作者： Carlos Ariño Emilio Pérez Antonio Sala Department of Industrial Systems Engineering and Design Universitat Jaume I Avenida Vicent Sos Baynat s/n. 12071 Castelló de la Plana Spain Dept. of Systems Engineering & Control at the Technical University of Valencia E-46022 Valencia Spain

Abstract This paper presents a novel control design technique in order to obtain a Guaranteed Cost Fuzzy Controller subject to constraints on the input channel. This Guaranteed cost control law is obtained via multi-parametric Quadratic Programming. The result is a piecewise fuzzy control law where the state partition is defined by fuzzy inequalities. The parameters of the Lyapunov function can be obtained previously using linear matrix inequalities optimization.

关键词： Takagi-Sugeno fuzzy control LMI quadratic stability parallel distributed compensation piecewise control multi-parametric Quadratic Programming Constrained Control

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