Robust Tracking Control of MIMO Underactuated Nonlinear Systems with Dead-Zone Band and Delayed Uncertainty Using an Adaptive Fuzzy Control

Tzu Sung Wu, Mansour Karkoub, Huiwei Wang, Ho Sheng Chen, Ti Hung Chen

Research output: Contribution to journalArticle

13 Citations (Scopus)

Abstract

In this paper, trajectory tracking of multi-input multioutput underactuated nonlinear systems with dead-zone band and time delays is synthesized and analyzed using robust control technique based on adaptive fuzzy control. Fuzzy logic systems with online adaptations are utilized to evaluate each unknown nonlinear subsystem. It is assumed that the system includes a combined backlash and hysteresis resulting in a dead-zone band. Moreover, the gain from the delayed states and the upper bounds of the uncertainties caused by the fuzzy modeling errors are estimated online. H control technique is developed to overcome the effects of the slopes of the dead-zone band and external disturbances. The stability analysis and tracking performance of the closed-loop system are verified based on the Lyapunov stability theory and Ricatti inequality, such that all the states of the system are uniformly ultimately bounded. Finally, a tower crane system is used as a case study in the simulations to validate the effectiveness and robustness of the proposed control scheme.

Original languageEnglish
Article number7505989
Pages (from-to)905-918
Number of pages14
JournalIEEE Transactions on Fuzzy Systems
Volume25
Issue number4
DOIs
Publication statusPublished - 1 Aug 2017

Fingerprint

Underactuated System
Adaptive Fuzzy Control
Dead Zone
Tracking Control
Fuzzy control
Robust Control
MIMO systems
Multiple-input multiple-output (MIMO)
Nonlinear systems
Nonlinear Systems
Tower cranes
Uncertainty
Robust control
Closed loop systems
Fuzzy logic
Hysteresis
Time delay
Fuzzy Logic System
Fuzzy Modeling
Modeling Error

Keywords

  • Adaptive fuzzy control
  • dead-zone band
  • H control
  • time delays
  • tower crane systems
  • underactuated systems

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computational Theory and Mathematics
  • Artificial Intelligence
  • Applied Mathematics

Cite this

Robust Tracking Control of MIMO Underactuated Nonlinear Systems with Dead-Zone Band and Delayed Uncertainty Using an Adaptive Fuzzy Control. / Wu, Tzu Sung; Karkoub, Mansour; Wang, Huiwei; Chen, Ho Sheng; Chen, Ti Hung.

In: IEEE Transactions on Fuzzy Systems, Vol. 25, No. 4, 7505989, 01.08.2017, p. 905-918.

Research output: Contribution to journalArticle

@article{db814043d99a45fa981a8dd28d131583,
title = "Robust Tracking Control of MIMO Underactuated Nonlinear Systems with Dead-Zone Band and Delayed Uncertainty Using an Adaptive Fuzzy Control",
abstract = "In this paper, trajectory tracking of multi-input multioutput underactuated nonlinear systems with dead-zone band and time delays is synthesized and analyzed using robust control technique based on adaptive fuzzy control. Fuzzy logic systems with online adaptations are utilized to evaluate each unknown nonlinear subsystem. It is assumed that the system includes a combined backlash and hysteresis resulting in a dead-zone band. Moreover, the gain from the delayed states and the upper bounds of the uncertainties caused by the fuzzy modeling errors are estimated online. H∞ control technique is developed to overcome the effects of the slopes of the dead-zone band and external disturbances. The stability analysis and tracking performance of the closed-loop system are verified based on the Lyapunov stability theory and Ricatti inequality, such that all the states of the system are uniformly ultimately bounded. Finally, a tower crane system is used as a case study in the simulations to validate the effectiveness and robustness of the proposed control scheme.",
keywords = "Adaptive fuzzy control, dead-zone band, H control, time delays, tower crane systems, underactuated systems",
author = "Wu, {Tzu Sung} and Mansour Karkoub and Huiwei Wang and Chen, {Ho Sheng} and Chen, {Ti Hung}",
year = "2017",
month = "8",
day = "1",
doi = "10.1109/TFUZZ.2016.2586970",
language = "English",
volume = "25",
pages = "905--918",
journal = "IEEE Transactions on Fuzzy Systems",
issn = "1063-6706",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
number = "4",

}

TY - JOUR

T1 - Robust Tracking Control of MIMO Underactuated Nonlinear Systems with Dead-Zone Band and Delayed Uncertainty Using an Adaptive Fuzzy Control

AU - Wu, Tzu Sung

AU - Karkoub, Mansour

AU - Wang, Huiwei

AU - Chen, Ho Sheng

AU - Chen, Ti Hung

PY - 2017/8/1

Y1 - 2017/8/1

N2 - In this paper, trajectory tracking of multi-input multioutput underactuated nonlinear systems with dead-zone band and time delays is synthesized and analyzed using robust control technique based on adaptive fuzzy control. Fuzzy logic systems with online adaptations are utilized to evaluate each unknown nonlinear subsystem. It is assumed that the system includes a combined backlash and hysteresis resulting in a dead-zone band. Moreover, the gain from the delayed states and the upper bounds of the uncertainties caused by the fuzzy modeling errors are estimated online. H∞ control technique is developed to overcome the effects of the slopes of the dead-zone band and external disturbances. The stability analysis and tracking performance of the closed-loop system are verified based on the Lyapunov stability theory and Ricatti inequality, such that all the states of the system are uniformly ultimately bounded. Finally, a tower crane system is used as a case study in the simulations to validate the effectiveness and robustness of the proposed control scheme.

AB - In this paper, trajectory tracking of multi-input multioutput underactuated nonlinear systems with dead-zone band and time delays is synthesized and analyzed using robust control technique based on adaptive fuzzy control. Fuzzy logic systems with online adaptations are utilized to evaluate each unknown nonlinear subsystem. It is assumed that the system includes a combined backlash and hysteresis resulting in a dead-zone band. Moreover, the gain from the delayed states and the upper bounds of the uncertainties caused by the fuzzy modeling errors are estimated online. H∞ control technique is developed to overcome the effects of the slopes of the dead-zone band and external disturbances. The stability analysis and tracking performance of the closed-loop system are verified based on the Lyapunov stability theory and Ricatti inequality, such that all the states of the system are uniformly ultimately bounded. Finally, a tower crane system is used as a case study in the simulations to validate the effectiveness and robustness of the proposed control scheme.

KW - Adaptive fuzzy control

KW - dead-zone band

KW - H control

KW - time delays

KW - tower crane systems

KW - underactuated systems

UR - http://www.scopus.com/inward/record.url?scp=85029354198&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85029354198&partnerID=8YFLogxK

U2 - 10.1109/TFUZZ.2016.2586970

DO - 10.1109/TFUZZ.2016.2586970

M3 - Article

VL - 25

SP - 905

EP - 918

JO - IEEE Transactions on Fuzzy Systems

JF - IEEE Transactions on Fuzzy Systems

SN - 1063-6706

IS - 4

M1 - 7505989

ER -