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In this paper we present a robust controller based on Takagi-Sugeno (T-S) fuzzy model. First, we obtain the nonlinear state equation of the underactuated robot systems by linearization, then, the parallel distributed compensation scheme (PDC) is applied to design the controller. Simulation results show the robustness of the pendubot control system against the disturbance.
In this paper, the robust stability of a PD type Single input Interval Type-2 Fuzzy Logic Controller (SIT2-FLC) structure will be examined via the well-known Popov criterion and Lyapunov's direct method approach. Since a closed form formulation of the SIT2-FLC output is possible, the type-2 fuzzy functional mapping is analyzed in a two dimensional domain. Thus, mathematical derivations are presented...
This paper presents a robust controller design method for inverted pendulum with model uncertainty and output constraint via Particle Swarm Optimization (PSO) and Takagi-Sugeno (T-S) fuzzy control approach. First, the T-S fuzzy model is established for the inverted pendulum. According to the concept of parallel distributed compensation, LMI stability conditions are proposed to guarantee the T-S fuzzy...
In this paper, we propose an algorithm based on fuzzy control to ensure the stability of the quadrotor. After giving the nonlinear model of the robot, its representation by a Takagi-Sugeno (T-S) fuzzy model is first discussed. Next, a fuzzy controller are synthesized which guarantee desired control performances. The given controller is designed using numerical tools (Linear Matrix Inequalities-LMI)...
In the general sliding mode control, often choose a hyperplane to make the system reach the sliding mode, the tracking error and gradual decay to zero, and the gradual convergence of the speed by selecting the sliding surface parameter matrix of arbitrary regulation, in spite of the state in any case tracking error will converge to zero in finite time, but also a certain degree of jitter. In order...
The issue of observer-based robust passive fuzzy controller design is discussed and investigated in this paper for uncertain stochastic Takagi-Sugeno (T-S) fuzzy model with external disturbance. For describing the stochastic behaviors of system, the stochastic differential equation is used to structure the stochastic T-S fuzzy model for representing the nonlinear stochastic systems. Using the Lyapunov...
A direct adaptive fuzzy predictive control method is presented for attitude tracking of satellites with model uncertainty and external disturbances in this paper. Firstly, a nonlinear predictive control law for general mechanical systems is derived. Then, the error in predictive control law from system model uncertainties are approximated and compensated by constructed adaptive fuzzy logic systems,...
This paper is presented to investigate the validity of designing a discreet controller of feed- forward and feedback structure which may be used to improve the dynamic performance of either linear or nonlinear systems. By transforming the continuous plant as well as transforming the associated controller to the discreet domain with including all parameters changes and their influence for closed loop...
This paper presents a robust fuzzy control method, combining affine Takagi-Sugeno (T-S) fuzzy models and Hinfin performance constraints, for stability analysis and controller design of an inverted pendulum robot to simulate human stance. The inverted pendulum robot proposes that it is beneficial for the stance leg to behave like a pendulum. As mentioned above, in this paper, the T-S fuzzy model is...
Internal model control (IMC) has been widely used because of its easily designed method and simple tuning policy. But better performance cannot be obtained when it is used in hydraulic servo system control directly because of the systemspsila uncertainties, time varying and highly nonlinear characteristics due to the flow-pressure relationship, oil leakage, oil temperature variation, load disturbances,...
Addressing to the difficulties in PID parameter tuning, low accuracy in temperature controlling and the dissatisfaction in high exactitude extrusion processing of the present PID controllers, a new kind of PID controller based on RBF neural network is proposed. It can not only obtain a higher accuracy in temperature controlling, but also infinitely approach the nonlinear system with quicker and more...
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