• Title/Summary/Keyword: fuzzy observer-based control

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Observer-based Intelligent Control of Nonlinear Networked Control Systems with Packet Loss for Wireless Sensor Network (무선 센서 네트워크를 위한 패킷 손실을 포함한 비선형 네트워크 제어 시스템의 관측기 기반 지능 제어기 설계)

  • Ra, In-Ho;Kim, Se-Jin;Joo, Young-Hoon
    • Journal of the Korean Institute of Intelligent Systems
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    • v.19 no.2
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    • pp.185-190
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    • 2009
  • In this paper, an observer-based intelligent controller for the nonlinear networked control systems with packet loss is proposed for wireless sensor network. For the intelligent control of the nonlinear system, it uses the fuzzy system with Takagi-Sugeno (T-S) fuzzy model. The observer is designed for the fuzzy networked control system, and the output feedback controller is proposed for the stability of estimates and errors. The stability condition of the closed-loop system with the proposed controller is represented to the linear matrix inequality (LMI) form, and the observer and control gain are obtained by LMI. An example is given to show the verification discussed throughout the paper.

Observer-based Fault Tolerant Controller Design for T-S Fuzzy Systems (T-S 퍼지 시스템을 위한 관측기 기반 고장포용 제어기 설계)

  • Jee, Sung-Chul;Lee, Ho-Jae;Kim, Do-Wan
    • Journal of Institute of Control, Robotics and Systems
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    • v.17 no.11
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    • pp.1154-1158
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    • 2011
  • In this paper, we discuss an observer-based fault tolerant controller design for the T-S (Takagi-Sugeno) fuzzy system with exogenous disturbance. To derive robust controller design conditions, we use $H_{\infty}$ design technique. The design conditions are derived in terms of linear matrix inequalities. An illustrative example is provided to show the effectiveness of the proposed methodology.

Design of an observer-based decentralized fuzzy controller for discrete-time interconnected fuzzy systems (이산시간 상호결합 퍼지 시스템을 위한 관측기 기반 분산 퍼지 제어기 설계)

  • Koo, Geun Bum;Joo, Young Hoon;Park, Jin Bae
    • Journal of the Korean Institute of Intelligent Systems
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    • v.25 no.5
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    • pp.451-456
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    • 2015
  • In this paper, an observer-based decentralized fuzzy controller is designed for discrete-time interconnected fuzzy systems. Based on the fuzzy subsystem of the interconnected fuzzy system, the observer-based decentralized fuzzy controller is considered. By using the fuzzy subsystem and the observer-based decentralized fuzzy controller, the closed-loop system is obtained. From the closed-loop system, the stability condition with the maximum interconnection bound is developed, and its sufficient condition is represented as the linear matrix inequality (LMI). Finally, the numerical example is provided to verify the effectiveness of the proposed technique.

Design of Optimal Idle Speed Controller by Sliding Mode Observer (슬라이딩 모드 관측기에 의한 최적의 공회전 제어기 설계)

  • Lee, Young-Choon;Lee, Seong-Cheol
    • Journal of the Korean Society for Precision Engineering
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    • v.18 no.10
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    • pp.161-167
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    • 2001
  • This paper presents an approach to nonlinear engine idle controller and intake manifold absolute pressure(MAP) observer based on mean torque production model. A stable engine idle speed is important in that the unstable engine Idle mode can make engine to drooping or stall state. A sliding fuzzy controller has been designed to control engine idle speed under load disturbance. A sliding observer is also developed to estimate the intake manifold absolute pressure and compared with the actual MAP sensor value. The sliding mode observer has shown good robustness and good tracking performance. The inputs of sliding fuzzy controller are the errors of rpm and MAP. The output is a duty cycle(DC) for driving a idle speed control valve(ISCV).

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A Study on the Intelligent Position Control System Using Sliding Mode and Friction Observer (슬라이딩 모드와 마찰관측기를 이용한 강인한 지능형 위치 제어시스템 연구)

  • Han, Seong-Ik;Lee, Yong-Jin;Lee, Kwon-Soon;Nam, Hyun-Do
    • The Transactions of the Korean Institute of Electrical Engineers P
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    • v.59 no.2
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    • pp.163-172
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    • 2010
  • A robust positioning control system has been studied using a friction parameter observer and a recurrent fuzzy neural network based on the sliding model. To estimate a nonlinear friction parameters of the LuGre friction model, a dual friction model-based observer is introduced. In addition, an approximating method for a system uncertainty has been developed using a recurrent fuzzy neural network technique to improve positioning performance. Experimental results have been presented to validate the performance of a proposed intelligent compensation scheme.

A nonlinear structural experiment platform with adjustable plastic hinges: analysis and vibration control

  • Li, Luyu;Song, Gangbing;Ou, Jinping
    • Smart Structures and Systems
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    • v.11 no.3
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    • pp.315-329
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    • 2013
  • The construction of an experimental nonlinear structural model with little cost and unlimited repeatability for vibration control study represents a challenging task, especially for material nonlinearity. This paper reports the design, analysis and vibration control of a nonlinear structural experiment platform with adjustable hinges. In our approach, magnetorheological rotary brakes are substituted for the joints of a frame structure to simulate the nonlinear material behaviors of plastic hinges. For vibration control, a separate magnetorheological damper was employed to provide semi-active damping force to the nonlinear structure. A dynamic neural network was designed as a state observer to enable the feedback based semi-active vibration control. Based on the dynamic neural network observer, an adaptive fuzzy sliding mode based output control was developed for the magnetorheological damper to suppress the vibrations of the structure. The performance of the intelligent control algorithm was studied by subjecting the structure to shake table experiments. Experimental results show that the magnetorheological rotary brake can simulate the nonlinearity of the structural model with good repeatability. Moreover, different nonlinear behaviors can be achieved by controlling the input voltage of magnetorheological rotary damper. Different levels of nonlinearity in the vibration response of the structure can be achieved with the above adaptive fuzzy sliding mode control algorithm using a dynamic neural network observer.

Robust Trajectory Tracking Control of a Mobile Robot Based on Weighted Integral PDC and T-S Fuzzy Disturbance Observer (하중 적분 PDC와 T-S 퍼지 외란 관측기를 이용한 이동 로봇의 강인 궤도 추적 제어)

  • Baek, Du-san;Yoon, Tae-sung
    • Journal of the Korea Institute of Information and Communication Engineering
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    • v.21 no.2
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    • pp.265-276
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    • 2017
  • In this paper, a robust and more accurate trajectory tracking control method for a mobile robot is proposed using WIPDC(Weighted Integral Parallel Distributed Compensation) and T-S Fuzzy disturbance observer. WIPDC reduces the steady state error by adding weighted integral term to PDC. And, T-S Fuzzy disturbance observer makes it possible to estimate and cancel disturbances for a T-S fuzzy model system. As a result, the trajectory tracking controller based on T-S Fuzzy disturbance observer shows robust tracking performance. When the initial postures of a mobile robot and the reference trajectory are different, the initial control inputs to the mobile robot become too large to apply them practically. In this study, also, the problem is solved by designing an initial approach path using a path planning method which employs $B\acute{e}zier$ curve with acceleration limits. Performances of the proposed method are proved from the simulation results.

Direct Adaptive Fuzzy Control with State Observer for Unknown Nonlinear Systems (상태 관측기를 이용한 미지의 비선형 시스템의 직접 적응 퍼지 제어)

  • Kim, Hyung-Joong;Hwang, Young-Ho;Kim, Eung-Seok;Yang, Hai-Won
    • Proceedings of the KIEE Conference
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    • 2003.07d
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    • pp.2190-2192
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    • 2003
  • In this paper, a state observer based direct adaptive fuzzy controller for unknown nonlinear dynamical system is presented. The adaptive parameters of the direct adaptive fuzzy controller can be tuned by using a projection algorithm on-line based on the Lyapunov synthesis approach. A maximum control is used to guarantee the robustness of system. A stability analysis of the overall adaptive scheme is discussed based on the sense of Lyapunov. The inverted pendulum simulation example shows that proposed control algorithm can be used for the tracking problem of nonlinear system.

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Fuzzy Gain Scheduling Flux Observer for Direct Torque Controlled Induction Motor Drives (직접토크제어 유도전동기 구동장치를 위한 퍼지이득조정 자속관측기)

  • 금원일;류지수;박태건;이기상
    • 제어로봇시스템학회:학술대회논문집
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    • 2000.10a
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    • pp.234-234
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    • 2000
  • A direct torque control(DTC) based sensorless speed control system which employs a new closed loop flux observer is proposed. The flux observer takes an adaptive scheduling gains where motet speed is used as the scheduling variable. Adaptive nature comes from the fact that the estimated values of stator resistance and speed are included as observer parameters. The parameters of the PI controllers adopted in the adaptive law for the estimation of stator resistance and motor speed are determined by simple genetic algorithm. Simulation results in low speed region are given for comparison between proposed and conventional flux estimate scheme.

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

  • Kang, Hyoung Bin;Moon, Ji Hyun;Lee, Ho Jae
    • Journal of Institute of Control, Robotics and Systems
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    • v.22 no.9
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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.