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Adaptive fuzzy PID controllers, combining fuzzy controllers which are highly adaptable with conventional PID controllers which have no control error, have been used in vector control systems of permanent synchronous machines(PMSM). In this paper, an adaptive fuzzy PID controller of which membership functions are dramatically improved is designed and applied to a PMSM. Then, simulation in Simulink...
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.
This paper deals with a general Takagi-Sugeno (TS) fuzzy PI/PD controller with a modified rule base. The analytical structure and properties of the fuzzy PI/PD controller are investigated. The rule base contains three rules which reduce the tuning parameters of the controller. The input variables are fuzzified by at least three triangular or trapezoidal fuzzy sets. The fuzzy PI/PD controller uses...
Many Takagi-Sugeno (T-S) fuzzy systems use the linear matrix inequality (LMI) to design the controllers. Although LMI can be solved off-line, there are still some difficulties in T-S fuzzy control design with LMI, such as complexities in the analysis and the computation, and conservativeness for complex systems. In this paper, we first transform the T-S fuzzy system into a time-varying nonlinear system...
Rotary parallel inverted pendulum (RPIP), which belongs to underactuated community, consists of a pivot arm driven by the DC motor and two rotary pendulums located on it. Considering the underactuated systems are typically passive, we propose the energy-based controller for the RPIP which simultaneously achieves the swing up of the rotary pendulums and the minimum of the mechanical energy when the...
This paper deals with the problem of stabilization of the Roesser type polynomial discrete-time 2-D Takagi-Sugeno (T-S) fuzzy system by using the sum of squares (SOS) approach. First, we derive a stabilization conditions based on polynomial Lyapunov functions that contain quadratic Lyapunov functions as a special case. Second, a non-quadratic stabilization conditions of the polynomial fuzzy systems...
The principal aim of this work, is to ensure stability of continuous fuzzy chaotic systems. In fact, the examples chosen are represented via the Takagi-Sugeno fuzzy model. Then, the asymptotic stability is achieved throw the design of a fuzzy-model-based controllers, based on so-called «parallel distributed compensation» (PDC). The fuzzy controllers satisfying the stability are got by solving linear...
This paper addresses design of optimal fuzzy sliding mode control technique for minimization of reaching time along with robust stabilization of nonlinear singularly perturbed systems (NSPS). In singular perturbation method, the original system is decomposed into two reduced order subsystems such as slow and fast models, in which nonlinear uncertain terms are involved with two-times scale representation...
The design of interval Type-2 Takagi-Sugeno fuzzy control systems (IT2 T-S FCSs) holding model uncertainty has been demonstrated. An IT2 T-S fuzzy model holding model uncertainty and IT2 fuzzy controllers constructed the closed-loop fuzzy control systems. The linear matrix inequality based (LMIbased) stability conditions for the IT2 T-S FCS holding model uncertainty have been derived. The main contribution...
In this paper, a single rotary inverted pendulum system is set up by using rotary encoder, servo motor and some mechanical structures. Lagrange equation is used to build up the mathematic model of single rotary inverted pendulum which is optimized by linear quadratic regulator (LQR) and fuzzy control method. Experiments are taken to verify this control strategy through Matlab simulation. The system...
The experimental results for the implementation of a fuzzy tracking controller on a macro-micro manipulator (M3) are shown and compared to those of a joint-PD controller. The test bed is a nonlinear nonminimum-phase MIMO system with a complex dynamic model and pronounced joint frictions. The controller belongs to a class of fuzzy controllers based on Lyapunov-function reasoning. The control strategy...
This paper presents the fuzzy controller design of a bidirectional converter based on T-S fuzzy model. The topology circuit of this bidirectional is a combination of a buck converter and a boost converter. The T-S fuzzy model of the bidirectional converter operated on buck mode and boost mode are derived respectively. The state-feedback gains are obtained by using Lyapunov stability theorem. Experimental...
Fuzzy control algorithms are frequently used in controlling highly nonlinear systems or systems whose mathematical model is difficult to describe. A quadrotor represents a class of flying objects with four rotors symmetrically attached on its construction. As highly nonlinear and unstable system quadrotor is suitable candidate for implementation of fuzzy control. In this paper, we present fuzzy control...
This work presents a supervisory control strategy for Networked Control Systems (NCSs). This shows the identification and control of the plant using the fuzzy theory. The identification was perform through input-output data. The fuzzy model incorporates the delay dynamics within the fuzzy rules. The controller is composed by a nominal control (PID) and a supervisory control which proposed from the...
A tire slip fuzzy control solution is designed and implemented in the framework of an Anti-lock Braking System (ABS) comprising a highly nonlinear controlled plant. The fuzzy controllers are designed to work for locally linearized models of the plant. Their parameters are tuned by mapping from simple PI controllers in terms of the modal equivalence principle. The experience from the experiments is...
A performance constrained fuzzy controller design problem for discrete-time perturbed nonlinear stochastic systems with multiplicative noises is studied in this paper. The purpose of this approach is to design fuzzy controllers to simultaneously achieve variance and passivity constraints. Some sufficient conditions are derived based on the Lyapunov theory. These sufficient conditions are developed...
This paper presents the control of a Photovoltaic (PV) using a fuzzy model approach. A fuzzy controller will be designed based on a Takagi-Sugeno (TS) fuzzy plant model of the PV. This proposed controller is capable of driving the system states of the PV to follow those of a stable reference fuzzy model with the stability of the closed-loop system guaranteed‥ The simulation results through Matlab/Simulink...
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...
Based on characters and application analysis of the normal model of TS-PID fuzzy controllers, a systematic design approach of TS-PID fuzzy controllers is investigated by means of the parallel distributed compensation (PDC) and linear matrix inequalities (LMI). Firstly, a nonlinear control plant is modeled by a set of T-S fuzzy implications, then linear control theory is applied to design the local...
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...
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