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Design of a Decoupling Fuzzy Control Scheme for Omnidirectional Inverted Pendulum Real-World Control

IEEE ACCESS 2021年 9卷 26083-26092页

作者： Chiu, Chih-Hui Hung, Yao-Ting Peng, Ya-Fu Natl Taiwan Ocean Univ Dept Commun Nav & Control Engn Keelung 20224 Taiwan Chien Hsin Univ Dept Elect Engn Taoyuan 320 Taiwan

In this study, an omnidirectional inverted pendulum (ODIP) is controlled based on a dual Takagi-Sugeno (TS) fuzzy control scheme. The ODIP is a handmade system. It contains two subsystems. The lower mechanism system includes a brushless rim motor, a system platform, batteries, and an encoder. The upper mechanism system is mainly composed of a circuit system, a motor fixed platform, a motor, and a flywheel. The proposed controller combines two fuzzy control approaches for ODIP system control with disturbances and uncertainties. The core of the ODIP operating system is an embedded controller, which executes real-world control processes. Moreover, to address the coupling problem, the shafts of the two motors are oriented in orthogonal directions. Then, the two fuzzy controllers can be designed independently without coupling. In the proposed controller, the Takagi-Sugeno fuzzy model is adopted for fuzzy modeling of the ODIP. The conception of parallel distributed compensation (PDC) is utilized to develop fuzzy control from TS fuzzy models. The format of linear matrix inequalities (LMIs) can formulate sufficient conditions. The main contributions of this study are (1) the implementation of an ODIP and (2) the application of the proposed dual Takagi-Sugeno (TS) fuzzy control scheme for real-time control of the ODIP. Finally, the efficiency of the proposed control scheme is illustrated by the experimental results presented in this study.

关键词： Fuzzy control Control systems Acceleration Mathematical model Couplings Linear matrix inequalities Wheels Omnidirectional inverted pendulum TS~fuzzy control scheme parallel distributed compensation linear matrix inequality Lyapunov function embedded controller

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ESTIMATED STATE FEEDBACK FUZZY CONTROL FOR PASSIVE DISCRETE TIME-DELAY MULTIPLICATIVE NOISED PENDULUM SYSTEMS

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JOURNAL OF MARINE SCIENCE AND TECHNOLOGY-TAIWAN 2015年第1期23卷 98-108页

作者： Chang, Wen-Jer Lin, Chun-Hung Ku, Cheung-Chieh Natl Taiwan Ocean Univ Dept Marine Engn Keelung Taiwan

This paper develops a fuzzy controller design method via estimated state feedback scheme for discrete-time nonlinear stochastic time-delay systems which are presented by Takagi Sugeno fuzzy model with multiplicative noises. The proposed design method is accomplished by the concept of parallel distributed compensation. Using the Lyapunov-Krasovskii function and passivity theory, the stability conditions are derived to guarantee the stability and attenuation performance. An algorithm is proposed in this paper to solve the derived stability conditions that belong to non-strict linear matrix inequality problems. Moreover, the discrete Jensen inequality and free-weighting matrix technique are employed to decrease the conservatism of the proposed design method Finally, the control of a nonlinear time-delay pendulum system is provided to illustrate the effectiveness and usefulness of the proposed fuzzy control method.

关键词： T-S fuzzy model multiplicative noise parallel distributed compensation passivity theory discrete Jensen inequality

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Improved Takagi-Sugeno fuzzy model-based control of flexible joint robot via Hybrid-Taguchi genetic algorithm

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ENGINEERING APPLICATIONS OF ARTIFICIAL INTELLIGENCE 2014年 33卷 12-20页

作者： Nikdel, P. Hosseinpour, M. Badamchizadeh, M. A. Akbari, M. A. Univ Tabriz Fac Elect & Comp Engn Tabriz Iran Islamic Azad Univ Ahar Branch East Azarbaijan Iran

In this paper Takagi-Sugeno (T-S) fuzzy approach is used for control of a flexible joint robot (FJR). The control method in this paper is based on parallel distributed compensation approach (PDC). In this method, a state feedback controller is designed using a fuzzy model that consists of a set of linear fuzzy local models. These fuzzy local models are combined to get an overall fuzzy inference mechanism. In order to improve the efficiency of the system and to set the parameters of the controller the Hybrid-Taguchi genetic algorithm (HTGA) is used. The use of orthogonal arrays (OA) speeds up the convergence of the algorithm and the contribution of signal to noise (S/N) ratio will result in a more appropriate response. The stability of the controller is analyzed and finally it is implemented on the plant. The experimental results confirm the efficiency of the proposed intelligent method in controlling FJRs. Therefore, it can be considered as a proper method in controlling systems that are based on flexible robot arms. (C) 2014 Elsevier Ltd. All rights reserved.

关键词： Takagi-Sugeno Flexible joint robots Hybrid-Taguchi-genetic-algorithm parallel distributed compensation Linear matrix inequalities

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Improved stabilization criteria for Takagi-Sugeno fuzzy systems with variable delays

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INFORMATION SCIENCES 2021年 579卷 591-606页

作者： Datta, Rupak Saravanakumar, Ramasamy Dey, Rajeeb Bhattacharya, Baby Ahn, Choon Ki Natl Inst Technol Agartala Dept Math Agartala 799046 India Hiroshima Univ Grad Sch Adv Sci & Engn 1-4-1 Kagamiyama Higashihiroshima 7398527 Japan Natl Inst Technol Silchar Dept Elect Engn Silchar 788010 India Korea Univ Sch Elect Engn Anam Dong 5 Ga Seoul 136701 South Korea

In the present research, the stability analysis and stabilization of nonlinear processes characterized by the Takagi-Sugeno (T-S) fuzzy model with variable time delays have been investigated. The state's delay is presumed to belong to a given interval, ensuring that the delay lower limit is not constrained to zero. First, a new and improved integral inequality (II) lemma is proposed to deal with the cross-product terms in the derivative of the constructed delay-product-type (DPT) augmented Lyapunov-Krasovskii functional (LKF). Second, a novel delay-range-dependent (DRD) stability condition and parallel distributed compensation (PDC) technique-based stabilization condition is then achieved in terms of linear matrix inequalities (LMIs). Finally, to illustrate the superiority of the proposed stability criterion and controller design approach over existing ones, three numerical examples are given. (c) 2021 Elsevier Inc. All rights reserved.

关键词： Takagi-Sugeno fuzzy model delay-product-type Lyapunov-Krasovskii functional integral inequality delay-range-dependent parallel distributed compensation

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Fuzzy control design for nonlinear impulsive switched systems using a nonlinear Takagi-Sugeno fuzzy model

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TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL 2020年第9期42卷 1700-1711页

作者： Ghalehnoie, Mohsen Akbarzadeh-Tootoonchi, Mohammad-Reza Pariz, Naser Shahrood Univ Technol Fac Elect & Robot Engn Engn CampusUniv Blvd Shahrood *** Iran Ferdowsi Univ Mashhad Ctr Excellence Soft Comp & Intelligent Informat P Dept Elect Engn Mashhad Razavi Khorasan Iran Ferdowsi Univ Mashhad Dept Elect Engn Mashhad Razavi Khorasan Iran

This paper deals with the fuzzy control design for nonlinear impulsive switched systems modeled by a novel nonlinear Takagi-Sugeno (T-S) fuzzy structure. To model, this structure only uses some of the nonlinearities as premise variables. So, the derived model has fewer rules compared with the traditional T-S fuzzy models that utilize standard local sector nonlinearity;and accordingly, the number of stability/stabilization conditions is sharply reduced. In our structure, considering only a part of nonlinearities as premise variables causes that some of the local models in the consequent part of the fuzzy rules be nonlinear but with less complexity than the original nonlinear system. As a result, the feasibility of our model's stability criteria is more than those that one can directly establish for the original nonlinear system. Besides, unlike the existing methods in the literature of impulsive switched systems that aim to permanently reduce the value of Lyapunov function candidates, this paper takes into account this process until trajectories reach a sufficient small region containing the origin. Then, within this region, the size of Lyapunov functions is just controlled at impulse instants. This strategy is useful when there are non-vanishing impulses and/or uncertainties, and it is more relaxed when the goal is ultimate bound stability. Finally, to achieve the stabilizing control signal that ensures practical control issues along with smallest ultimate bound and widest region of attraction, this paper also proposes an optimization problem with linear and bilinear constraints. The simulation results represent the performance of the proposed method.

关键词： Impulsive switched systems local sector nonlinearity nonlinear control parallel distributed compensation Takagi-Sugeno fuzzy model

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Guaranteed cost control analysis and iterative design for constrained Takagi-Sugeno systems

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ENGINEERING APPLICATIONS OF ARTIFICIAL INTELLIGENCE 2010年第8期23卷 1420-1427页

作者： Arino, Carlos Perez, Emilio Sala, Antonio Univ Jaume 1 Dept Ind Syst Engn & Design Castellon de La Plana 12071 Spain Univ Politecn Valencia Inst Univ Automat & Informat Ind Valencia 46022 Spain

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 (C) 2010 Elsevier Ltd All rights reserved

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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Further studies on LMI-based relaxed stabilization conditions for nonlinear systems in Takagi-Sugeno's form

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AUTOMATICA 2006年第3期42卷 503-508页

作者： Ding, BC Sun, HX Yang, P Hebei Univ Technol Sch Elect & Automat Tianjin 300130 Peoples R China

This paper further studies stabilization of nonlinear systems represented by a Takagi-Sugeno (T-S) discrete fuzzy model. By extending a nonquadratic Lyapunov function and applying a nonparallel distributed compensation (non-PDC) law, a new stabilization conclusion is presented that is a generalization of some previous results in the literature. The new conclusion under a special situation is also suitable for a PDC law, which presents to be more relaxed than some existing results. An example is provided to demonstrate the effectiveness of the new conclusions. (C) 2005 Elsevier Ltd. All rights reserved.

关键词： T-S fuzzy systems parameter-dependent Lyapunov function parallel distributed compensation nonquadratic Lyapunov function

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Energy conservation based fuzzy tracking for unmanned aerial vehicle missions under a priori known wind information

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ENGINEERING APPLICATIONS OF ARTIFICIAL INTELLIGENCE 2011年第2期24卷 278-294页

作者： Kladis, Georgios P. Economou, John T. Knowles, Kevin Lauber, Jimmy Guerra, Thierry-Marie Cranfield Univ Intelligent Prop & Emiss Lab Aeromech Syst Grp Def Acad United Kingdom Swindon SN6 8LA Wilts England Univ Valenciennes Lab Automat Mecan & Informat Ind & Humaines LAMIH F-59313 Le Mt Houy 9 Valenciennes France

The aim of this work is to include the navigation step for the waypoint-based guidance of a UAV system and to illustrate aspects such as tracking of the reference trajectory under wind presence, while conserving total energy requirements. The mission is represented utilising graph theory tools. The mathematical modelling of an aircraft controlled by an actuator surface is presented in terms of simple analytic relationships in order to simulate the actual horizontal motion of the vehicle. Its equivalence with a Tagaki-Sugeno (T-S) fuzzy system is illustrated that can aid the control methodology involved. Additionally, the advantages of utilising such an analysis is also stressed. The model formulated is an error posture model, that depends on current and reference posture. The control law is designed through parallel distributed compensation (PDC) and the gains are computed with the help of linear matrix inequalities (LMIs). Hence stability for the system is also guaranteed provided that the state variables are bounded in a priori known compact space. Moreover the energy requirements are described. This article is contributing towards energy enhancing a UAV mission and generating safely-flyable trajectories to meet mission objectives. The control law used is calculated in the pre-flight planning and can be used in real time for any trajectory to be tracked under any environmental conditions. Provided that angular and linear velocities are bounded, the latter is feasible under the assumption that the magnitude of air speed is small compared to the ground velocity of the aerial vehicle. The methodology offers an improved visualisation to aid an analyst with the representation of a UAV mission through graph theory tools utilising energy requirements for the mission and fast computational schema using matrix analysis. A simulation example of a UAV deployed from a source to reach a destination node under windy conditions is included to illustrate the analysis. The referen

关键词： Graph theory Energy cost matrix Pre-flight planning Energy conservation parallel distributed compensation Takagi-Sugeno fuzzy model Linear matrix inequalities

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IDENTIFICATION AND CONTROL OF A HEAT FLOW SYSTEM BASED ON THE TAKAGI-SUGENO FUZZY MODEL USING THE GREY WOLF OPTIMIZER

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THERMAL SCIENCE 2022年第3期26卷 2275-2286页

作者： Jovanovic, Radisa Z. Zaric, Vladimir R. Univ Belgrade Fac Mech Engn Belgrade Serbia

Even though, it is mostly used by process control engineers, the temperature control remains an important task for researchers. This paper addressed two separate issues concerning model optimization and control. Firstly, the linear models for the three different operating points of the heat flow system were found. From these identified models a Takagi-Sugeno model is obtained using fixed membership functions in the premises of the rules. According to the chosen objective function, parameters in the premise part of Takagi-Sugeno fuzzy model were optimized using the grey wolf algorithm. Furthermore, by using the parallel distributed compensation a fuzzy controller is developed via the fuzzy blending of three proportional + sum controllers designed for each of the operating points. In order to evaluate performance, a comparison is made between the fuzzy controller and local linear controllers. Moreover, the fuzzy controllers from the optimized and initial Takagi-Sugeno plant models are compared. The experimental results on a heat flow platform are presented to validate efficiency of the proposed method.

关键词： temperature control grey wolf optimization algorithm parallel distributed compensation fuzzy control Takagi-Sugeno discrete-time systems

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Disturbance observer supported fuzzy model based controller with application to bilateral teleoperation systems

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JOURNAL OF INTELLIGENT & FUZZY SYSTEMS 2022年第2期43卷 1911-1919页

作者： Asad, Muhammad Usman Gu, Jason Farooq, Umar Balas, Marius Chen, Zheng Qureshi, Khurram Karim Abbas, Ghulam Chang, Chunqi Dalhousie Univ Dept Elect & Comp Engn Halifax NS Canada Auriel Vlaicu Univ Arad Dept Informat Arad Romania Intelligent Syst Lab & Automat Facil ISLAF Lahore Pakistan Zhejiang Univ Ocean Coll Hangzhou Zhejiang Peoples R China King Fand Univ Petr & Minerals KFUPM Dept Elect Engn Dhahran Saudi Arabia Univ Lahore Dept Elect Engn Lahore Pakistan Shenzhen Univ Sch Biomed Engn Shenzhen Peoples R China

This paper proposes a disturbance observer supported Takagi-Sugeno (TS) fuzzy model-based control scheme for uncertain systems. The baseline controller is a guaranteed performance fuzzy model based parallel distributed controller (PDC) which is constructed using the nominal system's parameters. The model approximation error and parametric uncertainties are treated as a lumped disturbance and a nonlinear disturbance observer (NDOB) is introduced to counter the lumped disturbance. The applicability of the proposed scheme is demonstrated on the bilateral control of nonlinear teleoperation system in MATLAB/Simulink/QUARC environment through simulations as well as semi-real time experiments.

关键词： TS fuzzy modeling parallel distributed compensation state convergence teleoperation MATLAB/Simulink/QUARC

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