Nonlinear Control and Estimation with General Performance Criteria

This dissertation is concerned with nonlinear systems control and estimation with general performance criteria. The purpose of this work is to propose general design methods to provide systematic and effective design frameworks for nonlinear system control and estimation problems. First, novel State Dependent Linear Matrix Inequality control approach is proposed, which is optimally robust for model uncertainties and resilient against control feedback gain perturbations in achieving general performance criteria to secure quadratic optimality with inherent asymptotic stability property together with quadratic dissipative type of disturbance reduction. By solving a state dependent linear matrix inequality at each time step, the sufficient condition for the control solution can be found which satisfies the general performance criteria. The results of this dissertation unify existing results on nonlinear quadratic regulator, Hinfinity and positive real control. Secondly, an H2-Hinfinity State Dependent Riccati Equation controller is proposed in this dissertation. By solving the generalized State Dependent Riccati Equation, the optimal control solution not only achieves the optimal quadratic regulation performance, but also has the capability of external disturbance reduction. Numerically efficient algorithms are developed to facilitate effective computation. Thirdly, a robust multi-criteria optimal fuzzy control of nonlinear systems is proposed. To improve the optimality and robustness, optimal fuzzy control is proposed for nonlinear systems with general performance criteria. The Takagi-Sugeno fuzzy model is used as an effective tool to control nonlinear systems through fuzzy rule models. General performance criteria have been used to design the controller and the relative weighting matrices of these criteria can be achieved by choosing different coefficient matrices. The optimal control can be achieved by solving the LMI at each time step. Lastly, since any type of controller and observer is subject to actuator failures and sensors failures respectively, novel robust and resilient controllers and estimators are also proposed for nonlinear stochastic systems to address these failure problems. The effectiveness of the proposed control and estimation techniques are demonstrated by simulations of nonlinear systems: the inverted pendulum on a cart and the Lorenz chaotic system, respectively

Computational studies of some fuzzy mathematical problems

In modelling and optimizing real world systems and processes, one usually ends up with a linear or nonlinear programming problem, namely maximizing one or more objective functions subject to a set of constraint equations or inequalities. For many cases, the constraints do not need to be satisfied exactly, and the coefficients involved in the model are imprecise in nature and have to be described by fuzzy numbers to reflect the real world nature. The resulting mathematical programming problem is referred to as a fuzzy mathematical programming problem.Over the past decades, a great deal of work has been conducted to study fuzzy mathematical programming problems and a large volume of results have been obtained. However, many issues have not been resolved. This research is thus undertaken to study two types of fuzzy mathematical programming problems. The first type of problems is fuzzy linear programming in which the objective function contains fuzzy numbers. To solve this type of problems, we firstly introduce the concept of fuzzy max order and non-dominated optimal solution to fuzzy mathematical programming problems within the framework of fuzzy mathematics. Then, based on the new concept introduced, various theorems are developed, which involve converting the fuzzy linear programming problem to a four objective linear programming problem of non-fuzzy members. The theoretical results and methods developed are then validated and their applications for solving fuzzy linear problems are demonstrated through examples.The second type of problems which we tackle in this research is fuzzy linear programming in which the constraint equations or inequalities contain fuzzy numbers. For this work, we first introduce a new concept, the α-fuzzy max order. Based on this concept, the general framework of an α-fuzzy max order method is developed for solving fuzzy linear programming problems with fuzzy parameters in the constraints. For the special cases in which the constraints consist of inequalities containing fuzzy numbers with isosceles triangle or trapezoidal membership functions, we prove that the feasible solution space can be determined by the respective 3n or 4n non-fuzzy inequalities. For the general cases in which the constraints contain fuzzy numbers with any other form of membership functions, robust numerical algorithms have been developed for the determination of the feasible solution space and the optimal solution to the fuzzy linear programming problem in which the constraints contain fuzzy parameters. Further, by using the results for both the first and second types of problems, general algorithms have also been developed for the general fuzzy linear programming problems in which both the objective function and the constraint inequalities contain fuzzy numbers with any forms of membership functions. Some examples are then presented to validate the theoretical results and the algorithms developed, and to demonstrate their applications

Nearest fuzzy number of type L-R to an arbitrary fuzzy number with applications to fuzzy linear system

The fuzzy operations on fuzzy numbers of type L-R are much easier than general fuzzy numbers. It would be interesting to approximate a fuzzy number by a fuzzy number of type L-R. In this paper, we state and prove two significant application inequalities in the monotonic functions set. These inequalities show that under a condition, the nearest fuzzy number of type L-R to an arbitrary fuzzy number exists and is unique. After that, the nearest fuzzy number of type L-R can be obtained by solving a linear system. Note that the trapezoidal fuzzy numbers are a particular case of the fuzzy numbers of type L-R. The proposed method can represent the nearest trapezoidal fuzzy number to a given fuzzy number. Finally, to approximate fuzzy solutions of a fuzzy linear system, we apply our idea to construct a framework to find solutions of crisp linear systems instead of the fuzzy linear system. The crisp linear systems give the nearest fuzzy numbers of type L-R to fuzzy solutions of a fuzzy linear system. The proposed method is illustrated with some examples

Numerical Solution of Interval and Fuzzy System of Linear Equations

A system of linear equations, in general is solved in open literature for crisp unknowns, but in actual case the parameters (coefficients) of the system of linear equations contain uncertainty and are less crisp. The uncertainties may be considered in term of interval or fuzzy number. In this paper, a detail of study of linear simultaneous equations with interval and fuzzy parameter (triangular and trapezoidal) has been performed. New methods have been proposed for solving such systems. First, the methods have been tested for known problems viz. a circuit analysis solved in the literature and the results are found to be in good agreement with the present. Next more example problems are solved using the proposed methods to strengthen confidence on these new methods. The solutions of the example problems clearly show the efficacy and reliability of the proposed method(s)

Some mathematical aspects of fuzzy systems

In this work, three topics which are important for the further development of fuzzy systems are chosen to be investigated. First, the mathematical aspects of fuzzy relational equations (FREs) are explored. Solving FREs is one of the most important problems in fuzzy systems. In order to identify the algebraic information of the fuzzy space, two new tools, called fuzzy multiplicative inversion and additive inversion, are proposed. Based on these tools, the relationship among fuzzy vectors in fuzzy space is studied. Analytical expressions of maximum and mean solutions for FREs, and an optimal algorithm for calculating minimum solutions are developed. Second, the possibility of applying functional analysis theory to Takagi-Sugeno (T-S) fuzzy systems design is investigated. Fuzzy transforms, which are based on the generalised Fourier transform in functional analysis, are proposed. It is demonstrated that, mathematically, a T-S fuzzy model is equivalent to a fuzzy transform. Hence the parameters of a T-S fuzzy system can be identified by solving equations constructed using the inner product between membership functions and a given target function. The functional point of view leads to an insight into the behaviour of a fuzzy system. It provides a theoretical basis for exploring improvements to the efficiency of T-S fuzzy modelling. Third, the mathematical aspects of model-based fuzzy control (MBFC) are investigated. MBFC theory is not suitable for general nonlinear systems, due to an implicit linearity assumption. This assumption limits fuzzy controller design to a special case of linear time-varying systems control. To apply MBFC in general nonlinear control, a new stability criterion for general nonlinear fuzzy system is proposed. The mathematical aspects investigated in this research, provide a systematic guidance on issues such as efficient fuzzy systems modelling, balanced "soft" and "hard" computing in fuzzy system design, and applicability of fuzzy control to general nonlinear systems. They serve as a theoretical basis for further development of fuzzy systems.EThOS - Electronic Theses Online ServiceGBUnited Kingdo

Robust observer-based output feedback control for fuzzy descriptor systems

[[abstract]]This paper proposes a robust observer-based output feedback control for fuzzy descriptor systems. First, we represent singular nonlinear dynamic system into Takagi–Sugeno (T–S) fuzzy descriptor model which have a tighter representation for a wider class of nonlinear systems in comparison to general state-space models. To achieve the control objective, we design a fuzzy controller and observer in a unified and systematic manner. The stability analysis of the overall closed-loop fuzzy system leads to formulation of linear matrix inequalities (LMIs). The advantages of the approach are three fold. First, we consider conditions of immeasurable states which allows a practical design of sensorless control systems. Secondly, we address the robustness issue in the system which avoids control performance deterioration or instability due to disturbance or approximation errors in the system. Third, we formulate the overall control problem into LMIs. Using the observer and controller gains by solving LMIs, we carry out numerical simulations which verify theoretical statements.[[incitationindex]]SCI[[booktype]]紙本[[booktype]]電子

Some mathematical aspects of fuzzy systems

In this work, three topics which are important for the further development of fuzzy systems are chosen to be investigated. First, the mathematical aspects of fuzzy relational equations (FREs) are explored. Solving FREs is one of the most important problems in fuzzy systems. In order to identify the algebraic information of the fuzzy space, two new tools, called fuzzy multiplicative inversion and additive inversion, are proposed. Based on these tools, the relationship among fuzzy vectors in fuzzy space is studied. Analytical expressions of maximum and mean solutions for FREs, and an optimal algorithm for calculating minimum solutions are developed. Second, the possibility of applying functional analysis theory to Takagi-Sugeno (T-S) fuzzy systems design is investigated. Fuzzy transforms, which are based on the generalised Fourier transform in functional analysis, are proposed. It is demonstrated that, mathematically, a T-S fuzzy model is equivalent to a fuzzy transform. Hence the parameters of a T-S fuzzy system can be identified by solving equations constructed using the inner product between membership functions and a given target function. The functional point of view leads to an insight into the behaviour of a fuzzy system. It provides a theoretical basis for exploring improvements to the efficiency of T-S fuzzy modelling. Third, the mathematical aspects of model-based fuzzy control (MBFC) are investigated. MBFC theory is not suitable for general nonlinear systems, due to an implicit linearity assumption. This assumption limits fuzzy controller design to a special case of linear time-varying systems control. To apply MBFC in general nonlinear control, a new stability criterion for general nonlinear fuzzy system is proposed. The mathematical aspects investigated in this research, provide a systematic guidance on issues such as efficient fuzzy systems modelling, balanced 'soft' and 'hard' computing in fuzzy system design, and applicability of fuzzy control to general nonlinear systems. They serve as a theoretical basis for further development of fuzzy systems