Fuzzy model based control: stability, robustness, and performance issues

Author

Johansen, Tor A.

Author_Institution

Dept. of Eng. Cybern., Norwegian Inst. of Technol., Trondheim, Norway

Volume

2

Issue

3

fYear

1994

fDate

8/1/1994 12:00:00 AM

Firstpage

221

Lastpage

234

Abstract

A nonlinear controller based on a fuzzy model of MIMO dynamical systems is described and analyzed. The fuzzy model is based on a set of ARX models that are combined using a fuzzy inference mechanism. The controller is a discrete-time nonlinear decoupler, which is analyzed both for the adaptive and the fixed parameter cases. A detailed stability analysis is carried out, and the main result is that the closed loop is globally stable and robust with respect to unstructured uncertainty, which may include modeling error and disturbances. In addition, bounds on the asymptotic and transient performance are given. The main assumptions on the system and model are that they must not have strong nonminimum-phase effects, except time-delay, and the unstructured uncertainty must not be too large. A simulation example illustrates some of the properties of the modeling method and model based control structure

Keywords

adaptive control; fuzzy control; inference mechanisms; multivariable control systems; nonlinear control systems; parameter estimation; stability; uncertainty handling; MIMO dynamical systems; adaptive control; discrete time nonlinear decoupler; fuzzy inference mechanism; fuzzy model based control; modeling error; nonlinear controller; parameter estimation; robustness; stability; transient performance; unstructured uncertainty; Fuzzy control; Fuzzy sets; Fuzzy systems; Inference mechanisms; MIMO; Nonlinear control systems; Programmable control; Robust control; Robust stability; Uncertainty;

fLanguage

English

Journal_Title

Fuzzy Systems, IEEE Transactions on

Publisher

ieee

ISSN

1063-6706

Type

jour

DOI

10.1109/91.298450

Filename

298450