scholarly journals Optimal Robust Adaptive FuzzyH∞Tracking Control without Reaching Phase for Nonlinear System

2013 ◽  
Vol 2013 ◽  
pp. 1-7
Author(s):  
El Mehdi Mellouli ◽  
Siham Massou ◽  
Ismail Boumhidi
Keyword(s):  
Fuzzy Controller ◽  
Tracking Error ◽  
Gain Control ◽  
High Gain ◽  
Control Input ◽  
Optimal Value ◽  
Robust Adaptive ◽  
Indirect Adaptive Fuzzy Controller ◽  
The Stability ◽  
Interval Type

An optimalH∞tracking-based indirect adaptive fuzzy controller for a class of perturbed uncertain affine nonlinear systems without reaching phase is being developed in this paper. First a practical Interval Type-2 (IT2) fuzzy system is used in an adaptive scheme to approximate the system using a nonlinear model and to determine the optimal value of theH∞gain control. Secondly, to eliminate the trade-off betweenH∞tracking performance and high gain at the control input, a modified output tracking error has been used. The stability is ensured through Lyapunov synthesis and the effectiveness of the proposed method is proved and the simulation is also given to illustrate the superiority of the proposed approach.

On the Practical Stability of Incorporating Integral Compensation Into the Low-and-High Gain Control for a Class of Systems With Norm-Type Input Saturation

2008 ◽  
Vol 130 (3) ◽  
Author(s):  
Shou-Tao Peng
Keyword(s):  
Input Saturation ◽  
Gain Control ◽  
High Gain ◽  
Output Regulation ◽  
Practical Stability ◽  
Design Parameters ◽  
Linear Matrix ◽  
Control Input ◽  
Chattering Effect ◽  
Practical Stabilization

This paper studies the practical stability of incorporating integral compensation into the original low-and-high gain feedback law. The motivation for the incorporation is for achieving output regulation in the presence of constant disturbances without the use of a very large high-gain parameter required in the original approach. Due to numerical accuracy, the employment of very large high-gain parameters to eliminate steady-state error has the potential for inducing undesirable chattering effect on the control signal. A set of linear matrix inequalities is formulated in this study to obtain the related design parameters, by which the incorporation can achieve both the practical stabilization and asymptotic output regulation in the presence of input saturation and constant disturbances. Furthermore, the saturation of the control input can be shown to vanish in finite time during the process of regulation. Numerical examples are given to demonstrate the effectiveness of the proposed approach.

scholarly journals Actuator Saturated Fuzzy Controller Design for Interval Type-2 Takagi-Sugeno Fuzzy Models with Multiplicative Noises

Processes ◽  
2021 ◽  
Vol 9 (5) ◽  
pp. 823
Author(s):  
Wen-Jer Chang ◽  
Yu-Wei Lin ◽  
Yann-Horng Lin ◽  
Chin-Lin Pen ◽  
Ming-Hsuan Tsai
Keyword(s):  
Nonlinear Systems ◽  
Fuzzy Controller ◽  
Controller Design ◽  
Actuator Saturation ◽  
Design Method ◽  
Fuzzy Model ◽  
The Stability ◽  
Interval Type ◽  
Takagi Sugeno

In many practical systems, stochastic behaviors usually occur and need to be considered in the controller design. To ensure the system performance under the effect of stochastic behaviors, the controller may become bigger even beyond the capacity of practical applications. Therefore, the actuator saturation problem also must be considered in the controller design. The type-2 Takagi-Sugeno (T-S) fuzzy model can describe the parameter uncertainties more completely than the type-1 T-S fuzzy model for a class of nonlinear systems. A fuzzy controller design method is proposed in this paper based on the Interval Type-2 (IT2) T-S fuzzy model for stochastic nonlinear systems subject to actuator saturation. The stability analysis and some corresponding sufficient conditions for the IT2 T-S fuzzy model are developed using Lyapunov theory. Via transferring the stability and control problem into Linear Matrix Inequality (LMI) problem, the proposed fuzzy control problem can be solved by the convex optimization algorithm. Finally, a nonlinear ship steering system is considered in the simulations to verify the feasibility and efficiency of the proposed fuzzy controller design method.

Chaotic Gyros Synchronization

2011 ◽  
pp. 183-209
Author(s):  
M. Roopaei ◽  
M. J. Zolghadri ◽  
B. S. Ranjbar ◽  
S. H. Mousavi ◽  
H. Adloo ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Control Method ◽  
Fuzzy Controller ◽  
Sliding Mode ◽  
Dead Zone ◽  
Control Input ◽  
Mode Control ◽  
Fuzzy Sliding Mode ◽  
Robust Adaptive ◽  
Fuzzy Parameter

In this chapter, three methods for synchronizing of two chaotic gyros in the presence of uncertainties, external disturbances and dead-zone nonlinearity are studied. In the first method, there is dead-zone nonlinearity in the control input, which limits the performance of accurate control methods. The effects of this nonlinearity will be attenuated using a fuzzy parameter approximator integrated with sliding mode control method. In order to overcome the synchronization problem for a class of unknown nonlinear chaotic gyros a robust adaptive fuzzy sliding mode control scheme is proposed in the second method. In the last method, two different gyro systems have been considered and a fuzzy controller is proposed to eliminate chattering phenomena during the reaching phase of sliding mode control. Simulation results are also provided to illustrate the effectiveness of the proposed methods.

ROBUST ADAPTIVE FUZZY TRACKING CONTROL FOR A CLASS OF PERTURBED UNCERTAIN NONLINEAR SYSTEMS WITH UVCGF

2007 ◽  
Vol 05 (01) ◽  
pp. 227-239 ◽  
Author(s):  
TIESHAN LI ◽  
YANSHENG YANG ◽  
JIANGQIANG HU ◽  
LINJIA YANG
Keyword(s):  
Fuzzy Controller ◽  
A Priori ◽  
Tracking Error ◽  
Closed Loop System ◽  
Uncertain Nonlinear System ◽  
Gain Function ◽  
Singularity Problem ◽  
Adaptive Fuzzy ◽  
Control Gain ◽  
Robust Adaptive

In this paper, a robust adaptive fuzzy controller is presented for a wide class of perturbed uncertain nonlinear system with unknown virtual control gain function (UVCGF). The Mamdani fuzzy system is used to approximate unstructured uncertain functions in the system. The proposed algorithm, which incorporated Nussbaum-type gain into the decoupled backstepping approach, does not require a priori knowledge of the sign of UVCGF, and circumvents the controller-singularity problem gracefully in some existing literatures. It proved that the tracking error can be driven to a small residual set while keeping all signals in the closed-loop system semi-globally uniformly ultimately bounded (SGUUB). Simulation results are presented to validate the effectiveness of the proposed controller.

Lyapunov approach based design of a gain adaptive interval type-2 fuzzy controller for servo systems

2020 ◽  
pp. 1-19
Author(s):  
Ritu Rani De (Maity) ◽  
Rajani K. Mudi ◽  
Chanchal Dey
Keyword(s):  
Fuzzy Logic ◽  
Stability Analysis ◽  
Fuzzy Controller ◽  
Rule Base ◽  
Performance Study ◽  
Servo Systems ◽  
Lyapunov Approach ◽  
The Stability ◽  
Interval Type

This paper focuses on the development of a stable Mamdani type-2 fuzzy logic based controller for automatic control of servo systems. The stability analysis of the fuzzy controller has been done by employing the concept of Lyapunov. The Lyapunov approach results in the derivation of an original stability analysis that can be used for designing the rule base of our proposed online gain adaptive Interval Type-2 Fuzzy Proportional Derivative controller (IT2-GFPD) for servo systems with assured stability. In this approach a Quadratic positive definite Lyapunov function is used and sufficient stability conditions are satisfied by the adaptive type-2 fuzzy logic control system. Illustrative simulation studies with linear and nonlinear models as well as experimental results on a real-time servo system validate the stability and robustness of the developed intelligent IT2-GFPD. A comparative performance study of IT2-GFPD with other controllers in presence of noise and disturbance also proves the superiority of the proposed controller.

scholarly journals Hierarchical Robust Adaptive Control for Wind Turbines with Actuator Fault

2022 ◽  
pp. 1-8
Author(s):  
Sina Ameli ◽  
Olugbenga Anubi
Keyword(s):  
Wind Turbines ◽  
Tracking Error ◽  
Robust Adaptive Control ◽  
Control Input ◽  
Wind Disturbance ◽  
Rotor Speed ◽  
Low Level ◽  
Robust Adaptive ◽  
Error Dynamics ◽  
High Level

Abstract This paper solves the problem of regulating the rotor speed tracking error for wind turbines in the full-load region by an effective robust-adaptive control strategy. The developed controller compensates for the uncertainty in the control input effectiveness caused by a pitch actuator fault, unmeasurable wind disturbance, and nonlinearity in the model. Wind turbines have multi-layer structures such that the high-level structure is nonlinearly coupled through an aggregation of the low-level control authorities. Hence, the control design is divided into two stages. First, an ℒ2 controller is designed to attenuate the influence of wind disturbance fluctuations on the rotor speed. Then, in the low-level layer, a controller is designed using a proposed adaptation mechanism to compensate for actuator faults. The theoretical results show that the closed-loop equilibrium point of the regulated rotor speed tracking error dynamics in the high level is finite-gain ℒ2 stable, and the closed-loop error dynamics in the low level is globally asymptotically stable. Simulation results show that the developed controller significantly reduces the root-mean- square of the rotor speed error compared to some well-known works, despite the largely fluctuating wind disturbance, and the time-varying uncertainty in the control input effectiveness.

Backstepping Sliding Mode Controller Improved with Interval Type-2 Fuzzy Logic Applied to the Dual Star Induction Motor

2019 ◽  
Vol 18 (02) ◽  
pp. 1950012
Author(s):  
Hilal Rahali ◽  
Samir Zeghlache ◽  
Loutfi Benyettou ◽  
Leila Benalia
Keyword(s):  
Fuzzy Controller ◽  
Sliding Mode ◽  
Reference Signal ◽  
Induction Machine ◽  
Angular Speed ◽  
Sliding Mode Controller ◽  
Chattering Effect ◽  
The Stability ◽  
Interval Type

This paper proposes Interval type-2 Fuzzy sliding mode controller based on Backstepping (IT2FBSMC), to control the speed of a dual star induction machine (DSIM), in order to get a robust performance machine. An appropriate control strategy based on the coupling of three methods (Backstepping, sliding mode and type-2 Fuzzy controller) is used to build a robust controller used to approximate the discontinuous control eliminating the chattering phenomenon and guaranteeing the stability of the machine. Moreover, it forces the rotor angular speed to follow a desired reference signal. The simulation results obtained using Matlab/Simulink behavior are presented and discussed. The obtained results show that the controller can greatly alleviate the chattering effect and enhance the robustness of control systems with high accuracy.

Robust adaptive fuzzy sliding mode controller for nonlinear uncertain hysteretic systems

2020 ◽  
Vol 42 (13) ◽  
pp. 2519-2532
Author(s):  
Aissa Rebai ◽  
Kamel Guesmi
Keyword(s):  
Fuzzy Controller ◽  
Sliding Mode ◽  
Tracking Error ◽  
Adaptive Fuzzy Control ◽  
Control Technique ◽  
Fuzzy Logic Systems ◽  
Integral Control ◽  
Adaptive Fuzzy ◽  
Hysteretic Systems ◽  
Robust Adaptive

This paper deals with the problem of adaptive fuzzy control for a class of nonlinear uncertain systems with hysteresis input. Fuzzy logic systems are employed to approximate the unknown nonlinear behaviors, and the sliding mode technique is used to synthesize an adaptive fuzzy controller. A proportional integral control term is adopted to reduce the chattering phenomenon engendered by both sliding mode control technique and hysteretic characteristic of the system. The proposed control scheme ensures the boundedness of all closed-loop signals, and forces the tracking error to converge to zero. The main contribution of this work is the development of a control strategy for a class of nonlinear hysteretic systems subject to external disturbances and uncertainties. Two case studies are given to illustrate and to prove the effectiveness of the presented approach.

scholarly journals Adaptive Super-Twisting Sliding Mode Control for Mobile Robots Based on High-Gain Observers

2020 ◽  
Vol 2020 ◽  
pp. 1-13
Author(s):  
Haitao Liu ◽  
Jianhao Nie ◽  
Jian Sun ◽  
Xuehong Tian
Keyword(s):  
Control Strategy ◽  
Sliding Mode ◽  
Output Feedback Control ◽  
Response Speed ◽  
High Gain ◽  
Parameter Uncertainties ◽  
Trajectory Tracking Control ◽  
Robust Adaptive ◽  
The Stability ◽  
Feedback Control Strategy

In this paper, a robust adaptive output feedback control strategy based on a sliding mode super-twisting algorithm is designed for the trajectory tracking control of a wheeled mobile robot. First, a robust adaptive law is designed to eliminate the influence of parameter uncertainties. Second, a double-power sliding mode surface is designed to improve the response speed of the robot system. Finally, a high-gain observer is employed to estimate the speed information. The stability of the closed-loop system is proved using the Lyapunov stability theorem. The effectiveness of the proposed control strategy is verified by simulation.

Research on a New Azimuth Control Method for Stratospheric Balloon-Borne Gondola System

2012 ◽  
Vol 190-191 ◽  
pp. 1033-1039
Author(s):  
Hong Hui Wang ◽  
Zhao Hui Yuan ◽  
Juan Wu
Keyword(s):  
Control Method ◽  
Sliding Mode ◽  
Tracking Error ◽  
System Stability ◽  
Control Input ◽  
Tracking Accuracy ◽  
Cmac Neural Network ◽  
System A ◽  
Stratospheric Balloon ◽  
Robust Adaptive

For a class of non-matching uncertain nonlinear system such as stratospheric balloon-borne gondola azimuth control system, a new robust adaptive multiple sliding mode controller is proposed. In this control method, the virtual and the practical control variables are obtained by designing the multiple sliding modes step-by-step. For avoiding the chattering problem generated by discontinuous input, the traditional sign function is replaced by hyperbolic tangent function. Meanwhile, the CMAC neural network is used to approximate the system uncertainties and the derivative of virtual control input online, which can reduce the conservation of controller parameters design. The system stability analyses show that the control method can guarantee that the output tracking error and slide modes asymptotically convergent to boundary layer. The simulation results show that the controller has higher tracking accuracy, and stronger robust to nonlinear and uncertainty of system, and it also can be applied to other similar non-matching uncertain nonlinear systems.

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