• 제목/요약/키워드: Takagi-Sugeno

검색결과 334건 처리시간 0.047초

특이섭동을 포함한 타카기 - 수게노 형태의 비선형 시스템을 위한 새로운 샘플치 제어기의 설계기법 제안 (Sampled-Data Controller Design for Nonlinear Systems Including Singular Perturbation in Takagi-Sugeno Form)

  • 문지현;이재준;이호재
    • 한국지능시스템학회논문지
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    • 제26권1호
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    • pp.50-55
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    • 2016
  • 본 논문은 특이섭동을 포함한 비선형 시스템을 위한 샘플치 제어 기법을 논한다. 비선형 시스템은 타카기--수게노(Takagi--Sugeno: T--S) 퍼지모델 형태로 표현됨을 가정한다. 새로운 리아푸노프 함수와 추가적인 항등식을 이용하여 선형행렬부등식 형태의 샘플치 폐루프 T--S 퍼지시스템의 점근적 안정도 조건을 제시한다. 분석결과에 대한 몇 가지 논의점을 언급한다. 모의실험에 의하여 제안된 기법의 타당성을 보인다.

안정도를 보장하는 Takagi-Sugeno 퍼지 제어기의 설계 - 선형행렬부등식을 이용한 풀이 - (Design of Stabilizing Takagi-Sugeno Fuzzy Controllers - An LIM Approach)

  • 김진성;박주영;박대희
    • 한국지능시스템학회논문지
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    • 제8권5호
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    • pp.51-60
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    • 1998
  • 퍼지 시스템의 안정도와 퍼지 제어기의 설계 방법론에 관한 연구는 최근 들어 많은 주목을 받아왔다. 본 논문은 TS(Takagi-Sugeno) 퍼지 모델로 표현된 비선형 시스템에 대한 제어기 설계분제가 선형행렬부등식(LMI, linear matrix inequality)을 포함하는 convex 문제로 간략화됨을 보인다. 입력행렬의 구조에 따라서 TS 퍼지 시스템을 세 가지로 분류하고, 각각에 대해 선형행렬부등식을 이용한 제어기 설계 방법을 제시한다. 또한 안정도 이외의 성능용건을 고려한 제어기를 설계한다. 제안된 설계 방법론을 설명하기 위해 예제를 다룬다.

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Multirate Control of Takagi-Sugeno Fuzzy System

  • Kim, Do-Wan;Park, Jin-Bae;Joo, Young-Hoon
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 2004년도 ICCAS
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    • pp.672-677
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    • 2004
  • In this paper, a new dual-rate digital control technique for the Takagi-Sugeno (T-S) fuzzy system is suggested. The proposed method takes account of the stabilizablity of the discrete-time T-S fuzzy system at the fast-rate sampling points. Our main idea is to utilize the lifted control input. The proposed approach is to obtain the dual-rate discrete-time T-S fuzzy system by discretizing the overall dynamics of the T-S fuzzy system with the lifted control, and then to derive the sufficient conditions for the stabilization in the sense of the Lyapunov asymptotic stability for this system. An example is provided for showing the feasibility of the proposed discretization method.

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특이섭동 타카기 수게노 퍼지모델의 관측기기반 - 출력궤환 샘플치제어 (Observer-Based Output-feedback Sampled-Data Controlling the Singularly Perturbed Takagi-Sugeno Fuzzy Model)

  • 강형빈;문지현;이호재
    • 제어로봇시스템학회논문지
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    • 제22권9호
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    • pp.679-685
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    • 2016
  • This paper addresses an observer-based output-feedback sampled-data controller design problem for nonlinear systems in Takagi-Sugeno (T-S) form including singular perturbations. The design condition is represented in terms of linear matrix inequalities. The separation principle is also investigated.

이동 로봇의 퍼지 재점착 제어기 설계 (Design of a Fuzzy Re-adhesion Controller for Wheeled Robot)

  • 권선구;허욱렬;김진환
    • 대한전기학회논문지:시스템및제어부문D
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    • 제54권1호
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    • pp.48-55
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    • 2005
  • Mobility of an indoor wheeled robot is affected by adhesion force that is related to various floor conditions. When the adhesion force between driving wheels and floor decreases suddenly, the robot begins slip. In order to overcome this slip problem, optimal slip velocity must be decided for stable movement of wheeled robot. First of all, this paper shows that conventional PI control can not be applied to a wheeled robot of the light weight. Secondly, proposed fuzzy logic is applied to the Takagi-Sugeno model for the configuration of fuzzy sets. For the design of Takagi-Sugeno model and fuzzy rule, proposed algorithm uses FCM(Fuzzy c-mean clustering method) algorithm. In additionally, this algorithm adjusts the driving torque for restraining re-slip. The proposed fuzzy logic controller(FLC) is pretty useful with prevention of the slip phenomena for the controller performance in the re-adhesion control strategy, These procedures are implemented using a Pioneer 2-DXE wheeled robot parameter.

LMI-Based Design of Fuzzy Controllers for Takagi-Sugeno Fuzzy Systems

  • Kim, Jinsung;Park, Jooyoung;Park, Daihee
    • 한국지능시스템학회:학술대회논문집
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    • 한국퍼지및지능시스템학회 1998년도 The Third Asian Fuzzy Systems Symposium
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    • pp.326-330
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    • 1998
  • There have been several recent studies concerning the stability of fuzzy control systems and the synthesis of stabilizing fuzzy controller. This paper reports on a related study of the TS(Takagi-Sugeno) fuzzy systems, and it is shown that the controller synthesis problems for the nonlinear systems described by the TS fuzzy model can be reduced to convex problems involving LMIs(Linear matrix inequalities). After classifying the TS fuzzy systems into two families based on how diverse their input matrices are, different controller synthesis procedure is given for each of these families. A numerical example is presented to illustrate the synthesis procedures developed in this paper.

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Takagi-Sugeno 퍼지 시스템의 분리 원리에 관하여 (On the Separation Principle of Takagi-Sugeno Fuzzy Systems)

  • 이호재;박진배;주영혼
    • 한국지능시스템학회:학술대회논문집
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    • 한국퍼지및지능시스템학회 2003년도 추계 학술대회 학술발표 논문집
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    • pp.80-83
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    • 2003
  • In this note, a separation principle of the Takagi-Sugeno (T-S) fuzzy-model-based controller/observer is investigated. The separation principle of T-S fuzzy-model-based controller/observer sharing the premise parts in the fuzzy rule with directly measurable premise variables is well established. In that case, the fact that the augmented observer-based control system has the eigenvalues of the sub-closed-loop control system by the state-feedback controller and the sub-closed-loop observer error system is used to prove the separation principle. This paper studies the separation principle of T-S fuzzy-model-based controller/observer in which the premise variables cannot be directly measurable.

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특이섭동 타카기-수게노 퍼지모델의 강인 ℋ 샘플치 제어 (Robust ℋ Sampled-Data Control for Takagi-Sugeno Fuzzy Model with Singular Perturbation)

  • 강형빈;문지현;이호재
    • 전기학회논문지
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    • 제65권9호
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    • pp.1524-1530
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    • 2016
  • This paper deals with a robust $H_{\infty}$ sampled-data controller design problem for nonlinear systems in Takagi-Sugeno fuzzy form with singular perturbation. The employed controller takes a state-feedback form. The design condition is represented in terms of linear matrix inequalities. A numerical examples is included to show the effectiveness of the theoretical development.

완화된 Non-Quadratic 안정화 조건을 기반으로 한 이산 시간 Takagi-Sugeno 퍼지 시스템의 최적 제어 (Optimal Control for Discrete-Time Takagi-Sugeno Fuzzy Systems Based on Relaxed Non-Quadratic Stabilization Conditions)

  • 이동환;박진배;양한진;주영훈
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 2009년도 제40회 하계학술대회
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    • pp.1724_1725
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    • 2009
  • In this paper, new approaches to optimal controller design for a class of discrete-time Takagi-Sugeno (T-S) fuzzy systems are proposed based on a relaxed approach, in which non-quadratic Lyapunov function and non-parallel distributed compensation (PDC) control law are used. New relaxed conditions and linear matrix inequality (LMI) based design methods are proposed that allow outperforming previous results found in the literature. Finally, an example is given to demonstrate the efficiency of the proposed approaches.

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Takagi-Sugeno 퍼지 제어기를 이용한 불확실성을 포함한 유도전동기의 효율 최적화 (Takagi-Sugeno Fuzzy Controller for Efficiency Optimization of Induction Motor with Model Uncertainties)

  • 이선영;양해원
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 2009년도 제40회 하계학술대회
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    • pp.1646_1647
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    • 2009
  • In this paper, Takagi-Sugeno(T-S) fuzzy controller and search method are developed for efficiency optimization of induction motors(IMs). The proposed control scheme consists of efficiency controller and adaptive backstepping controller. A search controller for which information of input of T-S fuzzy controller is included in efficiency controller that uses a direct vector controlled induction motor. A sliding mode observer is designed to estimate rotor flux and an adaptive backstepping controller is used to control of speed of IMs. Simulation results are presented to validate the proposed controller.

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