Fuzzy control turns 50: 10 years later

In 2015, we celebrate the 50th anniversary of Fuzzy Sets, ten years after the main milestones regarding its applications in fuzzy control in their 40th birthday were reviewed in FSS, see [1]. Ten years is at the same time a long period and short time thinking to the inner dynamics of research. This paper, presented for these 50 years of Fuzzy Sets is taking into account both thoughts. A first part presents a quick recap of the history of fuzzy control: from model-free design, based on human reasoning to quasi-LPV (Linear Parameter Varying) model-based control design via some milestones, and key applications. The second part shows where we arrived and what the improvements are since the milestone of the first 40 years. A last part is devoted to discussion and possible future research topics.Guerra, T.; Sala, A.; Tanaka, K. (2015). Fuzzy control turns 50: 10 years later. Fuzzy Sets and Systems. 281:162-182. doi:10.1016/j.fss.2015.05.005S16218228

Optimization-Based Control Methodologies with Applications to Autonomous Vehicle

This thesis includes two main parts. In the first part, the main contribution is to develop nonsingular rigid-body attitude control laws using a convex formulation, and implement them in an experimental set up. The attitude recovery problem is first parameterized in terms of quaternions, and then two polynomial controllers using an SoS Lyapunov function and an SoS density function are developed. A quaternion-based polynomial controller using backstepping is also designed to make the closed-loop system asymptotically stable. Moreover, the proposed quaternion-based controllers are implemented in a Quanser helicopter, and compared to the polynomial controllers and a PID controller experimentally. The main contribution of the second part of this thesis is to analytically solve the Hamilton-Jacobi-Bellman equation for a class of third order nonlinear optimal control problems for which the dynamics are affine and the cost is quadratic in the input. One special advantage of this work is that the solution is directly obtained for the control input without the computation of a value function first. The value function can however also be obtained based on the control input. Furthermore, a Lyapunov function can be constructed for a subclass of optimal control problems, yielding a proof certificate for stability. Using the proposed methodology, experimental results of a path following problem implemented in a Wheeled Mobile Robot (WMR) are then presented to verify the effectiveness of the proposed methodology

ディスクリプタ形式で表現される多項式ファジィシステムに対する安定化制御系設計

電気通信大学202