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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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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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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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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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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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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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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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New delay-dependent finite-time stabilization of Takagi-Sugeno fuzzy approaches for delayed nonlinear systems

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ASIAN JOURNAL OF CONTROL 2024年第3期27卷 1119-1134页

作者： El Fezazi, Nabil Fahim, Mohamed Idrissi, Said Farkous, Rashid Alvarez, Teresa Tissir, El Houssaine Ibn Zohr Univ Higher Sch Technol Dakhla Morocco Sidi Mohammed Ben Abdellah Univ Fac Sci Dhar El Mehraz Dept Phys LISAC Lab Fes Morocco Ibn Tofail Univ Comp Sci Res Lab Kenitra Morocco Mohammed V Univ Higher Sch Technol Sale Rabat Morocco Univ Valladolid Ind Engn Sch Dr Mergelina S N Valladolid 47005 Spain

In this paper, the finite-time stability and stabilization of nonlinear systems with delays is studied, via a Takagi-Sugeno approach. By using a novel Lyapunov-Krasovskii functional and introducing some fuzzy free-weighting matrices, sufficient conditions are derived, for bounded and differentiable time-varying delays in terms of an upper bound of the delay derivatives. Then, we achieve closed-loop stabilization in finite time through an efficient parallel distributed compensation design. The sufficient conditions are formulated as linear matrix inequalities to achieve the desired performance. Finally, the proposed methodology is applied to various case studies, highlighting its significance.

关键词： finite-time stability nonlinear systems parallel distributed compensation T-S fuzzy approach

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More Relaxed Non-quadratic Stabilization Conditions for TS Fuzzy Control Systems using LMI and GEVP

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INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS 2015年第4期13卷 995-1002页

作者： Vafamand, Navid Sadeghi, Mokhtar Sha Shiraz Univ Technol Elect & Elect Engn Fac Dept Control Engn Shiraz Fars Province Iran

In this paper, a new systematic approach is presented to further decrease the conservativeness in stability analysis condition and controller design. Non-quadratic Lyapunov function is utilized to derive stability conditions in terms of linear matrix inequalities. Also, the control problem is formulated in a generalized eigenvalue problem. Considering the concept of decay rate and control input constraint, a new systematic procedure is proposed to calculate a maximum bound for the upper bounds of the time derivatives of the membership functions. Moreover, some slack matrices are introduced that help to reduce conservativeness. The number of inequalities is few compared to the existing results in literature, which helps the feasibility in the case of large number of fuzzy rules. Simulation examples and comparison results demonstrate the merits of this method.

关键词： Linear matrix inequality parallel distributed compensation relaxed conservativeness stability conditions Takagi-Sugeno fuzzy model

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Stability analysis and synthesis of fuzzy singularly perturbed systems

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IEEE TRANSACTIONS ON FUZZY SYSTEMS 2005年第2期13卷 273-284页

作者： Liu, HP Sun, FC Sun, ZQ Tsinghua Univ Dept Comp Sci & Technol State Key Lab Intelligent Technol & Syst Beijing 100084 Peoples R China

In this paper, we investigate the stability analysis and synthesis problems for both continuous-time and discrete-time fuzzy singularly perturbed systems. For continuous-time case, both the stability analysis and synthesis can be parameterized in terms of a set of linear matrix inequalities (LMIs). For discrete-time case, only the analysis problem can be cast in LMIs, while the derived stability conditions for controller design are nonlinear matrix inequalities (NMIs). Furthermore, a two-stage algorithm based on LMI and iterative LMI (ILMI) techniques I'S developed to solve the resulting NMIs and the stabilizing feedback controller gains can be obtained. For both continuous-time and discrete-time cases, the reduced-control law, which is only dependent on the slow variables, is also discussed. Finally, an illustrated example based on the flexible joint inverted pendulum model is given to illustrate the design procedures.

关键词： fuzzy systems linear matrix inequalities (LMIs) parallel distributed compensation singular perturbations

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