Fuzzy control design for nonlinear dynamic systems using constrained H∞/LTR

Author

Ashfahani, Andri ; Shun-Feng Su ; Agustinah, Trihastuti

Author_Institution

Dept. of Electr. Eng., Nat. Taiwan Univ. of Sci. & Technol., Taipei, Taiwan

fYear

2013

fDate

6-8 Dec. 2013

Firstpage

13

Lastpage

18

Abstract

Stabilization problems for nonlinear systems are difficult, especially when not all the state are available. This study proposed a combination of constrained H_∞ and loop transfer recovery (LTR) to control nonlinear systems via Takagi-Sugeno fuzzy model. First, the Takagi-Sugeno fuzzy model is employed to represent a nonlinear system. Next, based on the fuzzy model, a Kalman filter is developed. The controller gain is calculated by using constrained H_∞ theory. LTR is then applied to reinforce the robust property of the controller. Simulation results for application to a two-link robot system are demonstrated. The performance of the designed system is assessed in the frequency domain and via the time-domain simulation.

Keywords

H^∞ control; Kalman filters; control system synthesis; fuzzy control; fuzzy set theory; nonlinear control systems; robots; robust control; Kalman filter; Takagi-Sugeno fuzzy model; constrained H∞ theory; constrained H∞-LTR; controller gain; frequency domain simulation; fuzzy control design; loop transfer recovery; nonlinear dynamic system; nonlinear system control; robust property; stabilization problem; time-domain simulation; two-link robot system; Control systems; Educational institutions; Fuzzy control; Gain; Kalman filters; Nonlinear systems; Vectors; LTR; T-S fuzzy model; constrained H∞;

fLanguage

English

Publisher

ieee

Conference_Titel

Fuzzy Theory and Its Applications (iFUZZY), 2013 International Conference on

Conference_Location

Taipei

Type

conf

DOI

10.1109/iFuzzy.2013.6825402

Filename

6825402