Delayed output feedback control for nonlinear systems with fuzzy observers

Mansour Karkoub, Tzu Sung Wu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, the design problem of delayed output feedback control scheme using two-layer interval fuzzy observers for a class of nonlinear systems with state and output delays is investigated. The Takagi-Sugeno type fuzzy linear model with an on-line update law is used to approximate the nonlinear system. Based on the fuzzy model, a two-layer interval fuzzy observer is used to reconstruct the system states according to equal interval output time delay slices. Subsequently, a delayed output feedback adaptive fuzzy controller is developed to override the nonlinearities, time delays, and external disturbances such that the Htracking performance is achieved. The linguistic information is developped by setting the membership functions of the fuzzy logic system and the adaptation parameters to estimate the model uncertainties directly for using linear analytical results instead of estimating nonlinear systemfunctions. The filtered tracking error dynamics are designed to satisfy the Strictly Positive Realness (SPR) condition. Based on the Lyapunov stability criterion and linear matrix inequalities (LMIs), some sufficient conditions are derived so that all states of the system are uniformly ultimately bounded and the effect of the external disturbances on the tracking error can be attenuated to any prescribed level and consequently an H tracking control is achieved. Finally, a numerical example of a two-link robot manipulator is given to illustrate the effectiveness of the proposed control scheme.

Original languageEnglish
Title of host publicationASME 2012 International Mechanical Engineering Congress and Exposition, IMECE 2012
Pages137-142
Number of pages6
Volume4
EditionPARTS A AND B
DOIs
Publication statusPublished - 2012
EventASME 2012 International Mechanical Engineering Congress and Exposition, IMECE 2012 - Houston, TX, United States
Duration: 9 Nov 201215 Nov 2012

Other

OtherASME 2012 International Mechanical Engineering Congress and Exposition, IMECE 2012
CountryUnited States
CityHouston, TX
Period9/11/1215/11/12

Fingerprint

Feedback control
Nonlinear systems
Time delay
Control nonlinearities
Stability criteria
Membership functions
Linear matrix inequalities
Linguistics
Fuzzy logic
Manipulators
Robots
Feedback
Controllers
Uncertainty

ASJC Scopus subject areas

  • Mechanical Engineering

Cite this

Karkoub, M., & Wu, T. S. (2012). Delayed output feedback control for nonlinear systems with fuzzy observers. In ASME 2012 International Mechanical Engineering Congress and Exposition, IMECE 2012 (PARTS A AND B ed., Vol. 4, pp. 137-142) https://doi.org/10.1115/IMECE2012-85423

Delayed output feedback control for nonlinear systems with fuzzy observers. / Karkoub, Mansour; Wu, Tzu Sung.

ASME 2012 International Mechanical Engineering Congress and Exposition, IMECE 2012. Vol. 4 PARTS A AND B. ed. 2012. p. 137-142.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Karkoub, M & Wu, TS 2012, Delayed output feedback control for nonlinear systems with fuzzy observers. in ASME 2012 International Mechanical Engineering Congress and Exposition, IMECE 2012. PARTS A AND B edn, vol. 4, pp. 137-142, ASME 2012 International Mechanical Engineering Congress and Exposition, IMECE 2012, Houston, TX, United States, 9/11/12. https://doi.org/10.1115/IMECE2012-85423
Karkoub M, Wu TS. Delayed output feedback control for nonlinear systems with fuzzy observers. In ASME 2012 International Mechanical Engineering Congress and Exposition, IMECE 2012. PARTS A AND B ed. Vol. 4. 2012. p. 137-142 https://doi.org/10.1115/IMECE2012-85423
Karkoub, Mansour ; Wu, Tzu Sung. / Delayed output feedback control for nonlinear systems with fuzzy observers. ASME 2012 International Mechanical Engineering Congress and Exposition, IMECE 2012. Vol. 4 PARTS A AND B. ed. 2012. pp. 137-142
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