Experimental application of Takagi-Sugeno observers and controllers in a nonlinear electromechanical system

[EN] In this paper, a systematic methodology to design fuzzy Takagi-Sugeno observers and controllers will be used to estimate the angular positions and speeds, as well as to stabilise an experimental mechanical system with 3 degrees of freedom (fixed quadrotor). Takagi-Sugeno observers and controllers are compared to observers and controllers based on the linearized model, both designed with the same optimization criteria and design parameters. Experimental results confirm that Takagi-Sugeno models and observers behave similarly to linear ones around the linearization point, but have a better performance over a larger operating range, as intuitively expected.The work of Zs. Lendek was supported by a grant of the Romanian National Authority for Scientific Research, CNCS UEFISCDI, project number PN-II-RU-TE-2011-3-0043, contract number 74/05.10.2011. Spanish authors are grateful to grants DPI2011-27845-C02-01 (A. Sala), DPI2011-27845-C02-02 (R. Sanchis), DPI2011-28507-C02-01 (P. Garcia) from Spanish Government, and PROMETEOII/2013/004 (A. Sala, P. Garcia) from Generalitat Valenciana.Lendek, Z.; Sala, A.; García Gil, PJ.; Sanchis Llopis, R. (2013). Experimental application of Takagi-Sugeno observers and controllers in a nonlinear electromechanical system. Control Engineering and Applied Informatics. 15(4):3-14. http://hdl.handle.net/10251/150453S31415

Introduction to the Special Issue on Intelligent Control in Systems Engineering and Automation Sciences

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Proceedings of the 4th IFAC Conference on Intelligent Control and Automation Sciences ICONS 2016

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Takagi-Sugeno Fuzzy Observer and Extended-Kalman Filter for Adaptive Payload Estimation

9th Asian Control Conference (ASCC) -- JUN 23-26, 2013 -- Istanbul, TURKEYWOS: 000333734900252In this paper, two nonlinear state estimation methods, Takagi-Sugeno fuzzy observer and extended-Kalman filter are compared in terms of their ability to reliably estimate the velocity and an unknown, variable payload of a nonlinear servo system. Using the system dynamics and a position measurement, the velocity and unknown payload are estimated. In a simulation study, the servo system is excited with a randomly generated step input. In real-time experiments, the estimation is performed under feedback-linearizing control. The performance of the TS fuzzy payload estimator is discussed with respect to the choice of the desired convergence rate. The application results show that the Takagi-Sugeno fuzzy observer provides better performance than the extended-Kalman filter with robust and less parameter dependent structure.Romanian National Authority for Scientific Research; CNCS UEFISCDI [PN-II-RU-TE-2011-3-0043]; Pamukkale University Scientific Research Projects (BAP) Department [74/05.10.2011]This work was supported by a grant of the Romanian National Authority for Scientific Research, CNCS UEFISCDI, project number PN-II-RU-TE-2011-3-0043, contract number 74/05.10.2011, and also supported by Pamukkale University Scientific Research Projects (BAP) Department

Stability analysis and nonlinear observer design using Takagi-Sugeno fuzzy models

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Takagi–Sugeno fuzzy payload estimation and adaptive control

In this paper, a novel adaptive Takagi-Sugeno (TS) fuzzy observer-based controller is proposed. The closed-loop stability and the boundedness of all the signals are proven by Lyapunov stability analysis. The proposed controller is applied to a flexible-transmission experimental setup. The performance for constant payload in the presence of noisy measurements is compared to a controller based on a classical extended Luenberger observer. Simulation and real-time results show that the proposed observer-based feedback controller provides accurate position tracking under constant and varying payloads.Delft Center for Systems and ControlLearning & Autonomous Contro