Online Hybrid Intelligent Tracking Control for Uncertain Nonlinear Dynamical Systems

[[abstract]]A novel online hybrid direct/indirect adaptive Petri fuzzy neural network (PFNN) controller with stare observer for a class of multi-input multi-output (MIMO) uncertain nonlinear systems is developed in the paper. By using the Lyapunov synthesis approach, the online observer-based tracking control law and the weight-update law of the adaptive hybrid intelligent controller are derived. According to the importance and viability of plant knowledge and control knowledge, a weighting factor is utilized to sum together the direct and indirect adaptive PFNN controllers. In this paper, we prove that the proposed online observer-based hybrid PFNN controller can guarantee that all signals involved are bounded and that the system outputs of the closed-loop system can track asymptotically the desired output trajectories. An example including four cases is illustrated to show the effectiveness of this approach.[[conferencetype]]國際[[conferencedate]]20120918~20120922[[booktype]]電子版[[iscallforpapers]]Y[[conferencelocation]]Tokyo, Japa

Fuzzy-model-based robust fault detection with stochastic mixed time-delays and successive packet dropouts

This is the Post-Print version of the Article. The official published version can be accessed from the link below - Copyright @ 2012 IEEEThis paper is concerned with the network-based robust fault detection problem for a class of uncertain discrete-time Takagi–Sugeno fuzzy systems with stochastic mixed time delays and successive packet dropouts. The mixed time delays comprise both the multiple discrete time delays and the infinite distributed delays. A sequence of stochastic variables is introduced to govern the random occurrences of the discrete time delays, distributed time delays, and successive packet dropouts, where all the stochastic variables are mutually independent but obey the Bernoulli distribution. The main purpose of this paper is to design a fuzzy fault detection filter such that the overall fault detection dynamics is exponentially stable in the mean square and, at the same time, the error between the residual signal and the fault signal is made as small as possible. Sufficient conditions are first established via intensive stochastic analysis for the existence of the desired fuzzy fault detection filters, and then, the corresponding solvability conditions for the desired filter gains are established. In addition, the optimal performance index for the addressed robust fuzzy fault detection problem is obtained by solving an auxiliary convex optimization problem. An illustrative example is provided to show the usefulness and effectiveness of the proposed design method.This work was supported in part by the National Natural Science Foundation of China under Grant 61028008, 60825303, 61004067, National 973 Project under Grant 2009CB320600, the Key Laboratory of Integrated Automation for the Process Industry (Northeastern University), Ministry of Education, the Engineering and Physical Sciences Research Council (EPSRC) of the U.K. under Grant GR/S27658/01, the Royal Society of the U.K., the University of Hong Kong under Grant HKU/CRCG/200907176129 and the Alexander von Humboldt Foundation of Germany

A non-uniform predictor-observer for a networked control system

The final publication is available at Springer via http://dx.doi.org/10.1007/s12555-011-0621-5This paper presents a Non-Uniform Predictor-Observer (NUPO) based control approach in order to deal with two of the main problems related to Networked Control Systems (NCS) or Sensor Networks (SN): time-varying delays and packet loss. In addition, if these delays are longer than the sampling period, the packet disordering phenomenon can appear. Due to these issues, a (scarce) nonuniform, delayed measurement signal could be received by the controller. But including the NUPO proposal in the control system, the delay will be compensated by the prediction stage, and the nonavailable data will be reconstructed by the observer stage. So, a delay-free, uniformly sampled controller design can be adopted. To ensure stability, the predictor must satisfy a feasibility problem based on a time-varying delay-dependent condition expressed in terms of Linear Matrix Inequalities (LMI). Some aspects like the relation between network delay and robustness/performance trade-off are empirically studied. A simulation example shows the benefits (robustness and control performance improvement) of the NUPO approach by comparison to another similar proposal. © ICROS, KIEE and Springer 2011.This work was supported by the Spanish Ministerio de Ciencia y Tecnologia Projects DPI2008-06737-C02-01 and DPI2009-14744-C03-03, by Generalitat Valenciana Project GV/2010/018, by Universidad Politecnica de Valencia Project PAID06-08.Cuenca Lacruz, ÁM.; García Gil, PJ.; Albertos Pérez, P.; Salt Llobregat, JJ. (2011). A non-uniform predictor-observer for a networked control system. International Journal of Control, Automation and Systems. 9(6):1194-1202. doi:10.1007/s12555-011-0621-5S1194120296K. Ogata, Discrete-time Control Systems, Prentice-Hall, Inc., Upper Saddle River, NJ, USA, 1987.Y. Tipsuwan and M. Chow, “Control methodologies in networked control systems,” Control Eng. 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Albertos, “Robustness with respect to delay uncertainties of a predictor-observer based discrete-time controller,” Proc. of the 45th IEEE Conf. on Decision and Control, pp. 199–204, 2006.C. Lien, “Robust observer-based control of systems with state perturbations via LMI approach,” IEEE Trans. Autom. Control, vol. 49, no. 8, pp. 1365–1370, 2004.A. Sala, “Computer control under time-varying sampling period: an LMI gridding approach,” Automatica, vol. 41, no. 12, pp. 2077–2082, Dec. 2005.J. Li, Q. Zhang, Y. Wang, and M. Cai, “H ∞ control of networked control systems with packet disordering,” IET Control Theory Appl., vol. 3, no. 11, pp. 1463–1475, March 2009.Y. Zhao, G. Liu, and D. Rees, “Improved predictive control approach to networked control systems,” IET Control Theory Appl., vol. 2, no. 8, pp. 675–681, Aug. 2008.K. Astrom, “Event based control,” Analysis and Design of Nonlinear Control Systems, pp. 127–147, 2007.A. Cuenca, P. García, K. Arzén, and P. 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Linear matrix inequalities in multirate control over networks

This paper faces two of the main drawbacks in networked control systems: bandwidth constraints and timevarying delays. The bandwidth limitations are solved by using multirate control techniques. The resultant multirate controller must ensure closed-loop stability in the presence of time-varying delays. Some stability conditions and a state feedback controller design are formulated in terms of linear matrix inequalities. The theoretical proposal is validated in two different experimental environments: a crane-based test-bed over Ethernet, and a maglev based platform over Profibus. © 2012 Ángel Cuenca et al.The authors A. Cuenca, R. Piza, and J. Salt are grateful to the Spanish Ministry of Education research Grants DPI2011-28507-C02-01 and DPI2009-14744-C03-03, and Generalitat Valenciana Grant GV/2010/018. A. 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Modeling and stabilization of continuous-time packet-based networked control systems

In this paper, the packet-based control approach to networked control systems (NCSs) is extended to the continuous-time case with the use of a discretization technique for continuous network-induced delay. The derived approach can effectively simultaneously deal with network-induced delay, data packet dropout, and data packet disorder and leads to a novel model for NCSs. This model offers the designer the freedom of designing different controllers with respect to specific network conditions, which is distinct from previous results and ensues better system performance. By applying switched system theory, the stability criterion for the derived model is obtained, which is then used to obtain an linear matrix inequality-based stabilized controller design method for the packet-based control approach. A numerical example is also presented, which illustrates the effectiveness of the proposed packet-based control approach by comparison