• Title, Summary, Keyword: Takagi-Sugeno

Search Result 326, Processing Time 0.036 seconds

Design of Intelligent Controller with Time Delay for Internet-Based Remote Control (인터넷 기반 원격제어를 위한 임의의 시간지연을 갖는 지능형 제어기의 설계)

  • Joo, Young-Hoon;Kim, Jung-Chan;Lee, Oh-Jae;Park, Jin-Bae
    • Journal of Korean Institute of Intelligent Systems
    • /
    • v.13 no.3
    • /
    • pp.293-299
    • /
    • 2003
  • This paper discusses a design of intelligent controller with time delay for Internet-based remote control. The finite Markovian process is adopted to model the input delay of the overall control system. It is assumed that the zero and hold devices are used for control input. The Takagi-Sugeno (T-S) fuzzy system with uncertain input delay is utilized to represent nonlinear plant. The continuous-time T-S fuzzy system with the Markovian input delay is discretized for easy handling delay, accordingly, the discretized T-S fuzzy system is represented by a discrete-time T-S fuzzy system with jumping parameters. The robust stochastic stabilizibility of the jump T-S fuzzy system is derived and formulated in terms of linear matrix inequalities (LMIs). An experimental results is provided to visualize the feasibility of the proposed method.

Design of T-S Fuzzy-Model-Based Controller for Control of Autonomous Underwater Vehicles (무인 잠수정의 심도 제어를 위한 T-S 퍼지 모델 기반 제어기 설계)

  • Jun, Sung-Woo;Kim, Do-Wan;Lee, Ho-Jae
    • Journal of Korean Institute of Intelligent Systems
    • /
    • v.21 no.3
    • /
    • pp.302-306
    • /
    • 2011
  • This paper presents Takagi-Sugeno (T-S) fuzzy-model-based controller for depth control of autonomous underwater vehicles(AUVs). Through sector nonlinearity methodology, The nonlinear AUV is represented by T-S fuzzy model. By using the Lyapunov function, the design condition of controller is derived to guarantee the performance of depth control in the format of linear matrix inequality (LMI). An example is provided to illustrate the effectiveness of the proposed methodology.

Robust Stability Analysis and Design of Fuzzy Model Based Feedback Linearization Control Systems (퍼지 모델 기반 피드백 선형화 제어 시스템의 강인 안정성 해석과 설계)

  • 박창우;이종배;김영욱;성하경
    • Journal of the Institute of Electronics Engineers of Korea CI
    • /
    • v.41 no.3
    • /
    • pp.79-90
    • /
    • 2004
  • Systematical robust stability analysis and design scheme for the feedback linearization control systems via fuzzy modeling are proposed. It is considered that uncertainty and disturbances are included in the Takagi-Sugeno fuzzy models representing the nonlinear plants. Robust stability of the closed system is analyzed by casting the systems into the diagonal norm bounded linear differential inclusions and by converting the analysis and design problems into the linear matrix inequality optimization, a numerical method for finding the maximum stable ranges of the fuzzy feedback linearization control gains is also proposed. To verify the effectiveness of the proposed scheme, the robust stability analysis and control design examples are given.

Fuzzy Variable Structure Control of Wheel-Driven Inverted Pendulum (바퀴구동 도립진자에 대한 퍼지 가변구조제어)

  • Yoo Byung-Kook
    • Journal of the Institute of Convergence Signal Processing
    • /
    • v.5 no.4
    • /
    • pp.301-307
    • /
    • 2004
  • This paper suggests a fuzzy variable structure control scheme for Takagi-Sugeno(T-S) fuzzy model and presents the attitude control of the wheel-driven inverted pendulum(WDIP) based on the proposed control algorithm. The proposed controller is designed based on the T-S fuzzy modeling of nonlinear system and the unification of gain matrices in linear subsystems that constitute the overall fuzzy model. The uncertainties generated in the gain matrix unifying procedure can be interpreted as the input disturbances of the conventional variable structure control. These unifying disturbances can be resolved by using the robustness property of the conventional variable structure system. Design example for wheel-driven inverted pendulum demonstrates the utility and validity of the proposed control scheme.

  • PDF

Design of a Fuzzy Re-adhesion Controller for Wheeled Robot (이동 로봇의 퍼지 재점착 제어기 설계)

  • Kwon Sun-Ku;Huh Uk-Youl;Kim Jin-Hwan
    • The Transactions of the Korean Institute of Electrical Engineers D
    • /
    • v.54 no.1
    • /
    • pp.48-55
    • /
    • 2005
  • Mobility of an indoor wheeled robot is affected by adhesion force that is related to various floor conditions. When the adhesion force between driving wheels and floor decreases suddenly, the robot begins slip. In order to overcome this slip problem, optimal slip velocity must be decided for stable movement of wheeled robot. First of all, this paper shows that conventional PI control can not be applied to a wheeled robot of the light weight. Secondly, proposed fuzzy logic is applied to the Takagi-Sugeno model for the configuration of fuzzy sets. For the design of Takagi-Sugeno model and fuzzy rule, proposed algorithm uses FCM(Fuzzy c-mean clustering method) algorithm. In additionally, this algorithm adjusts the driving torque for restraining re-slip. The proposed fuzzy logic controller(FLC) is pretty useful with prevention of the slip phenomena for the controller performance in the re-adhesion control strategy, These procedures are implemented using a Pioneer 2-DXE wheeled robot parameter.

Fuzzy Output-Tracking Control for Uncertain Nonlinear Systems (불확실 비선형 시스템을 위한 퍼지 출력 추종 제어)

  • Lee, Ho-Jae;Joom, Young-Hoo;Park, Jin-Ba
    • Journal of Korean Institute of Intelligent Systems
    • /
    • v.15 no.2
    • /
    • pp.185-190
    • /
    • 2005
  • A systematic output tracking control design technique for robust control of Takagi-Sugeno (T-S) fuzzy systems with norm bounded uncertainties is developed. The uncertain T-S fuzzy system is first represented as a set of uncertain local linear systems. The tracking problem is then converted into the stabilization problem for a set of uncertain local linear systems thereby leading to a more feasible controller design procedure. A sufficient condition for robust asymptotic output tracking is derived in terms of a set of linear matrix inequalities. A stability condition on the traversing time instances is also established. The output tracking control simulation for a flexible-joint robot-arm model is demonstrated, to convincingly show the effectiveness of the proposed system modeling and controller design.

Decentralized Fuzzy Output Feedback Controller for Nonlinear Interconnected System with Time Delay (시간 지연이 있는 비선형 상호 결합 시스템의 분산 퍼지 출력 궤환 제어기 설계)

  • Koo, Geun-Bum;Park, Jin-Bae;Joo, Young-Hoon
    • Journal of Korean Institute of Intelligent Systems
    • /
    • v.18 no.3
    • /
    • pp.335-340
    • /
    • 2008
  • In this paper, a decentralized fuzzy output feedback controller for nonlinear interconnected systems with time delay is proposed. The nonlinear interconnected system is represented to fuzzy system using Takagi-Sugeno (T-S) fuzzy model. The decentralized output feedback controller is designed(or stability of subsystems of the fuzzy interconnected system. The stable condition of the closed-loop subsystem is represented to the linear matrix inequality (LMI) form and control gain is obtained by LMI. An example is given to show the verification discussed throughout the paper.

Sampled-Data Fault Detection Observer Design of Takagi-Sugeno Fuzzy Systems (타카기-수게노 퍼지 시스템을 위한 샘플치 고장검출 관측기 설계)

  • Jee, Sung Chul;Lee, Ho Jae;Kim, Do Wan
    • Journal of Korean Institute of Intelligent Systems
    • /
    • v.23 no.1
    • /
    • pp.65-71
    • /
    • 2013
  • In this paper, we address fault detection observer design problem of T-S fuzzy systems with sensor fault. To detect fault, T-S fuzzy model-based observer is used. By introducing $\mathfrak{H}$_ performance index, an observer is designed as sensitive to fault as possible. The fault is then detected by a fault decision logic. The design conditions are derived in terms of linear matrix inequalities. An illustrative example is provided to verify the effectiveness of the proposed fault detection technique.

T-S Fuzzy Formation Controlling Phugoid Model-Based Multi-Agent Systems in Discrete Time (이산시간에서의 장주기모델에 관한 다개체시스템의 T-S 퍼지 군집제어)

  • Moon, Ji Hyun;Lee, Jaejun;Lee, Ho Jae;Kim, Moon Hwan
    • Journal of Korean Institute of Intelligent Systems
    • /
    • v.26 no.4
    • /
    • pp.308-315
    • /
    • 2016
  • This paper addresses a formation control problem for a phugoid model-based multi-agent system in discrete time by using a Takagi-Sugeno (T-S) fuzzy model-based controller design technique. The concerned discrete-time model is obtained by Euler's method. A T-S fuzzy model is constructed through a feedback linearization. A fuzzy controller is then designed to stabilize the T-S fuzzy model. Design condition is presented in the linear matrix inequality format.

Developing Takagi-Sugeno Fuzzy Model-Based Estimator for Short-Term Load Forecasting (단기부하예측을 위한 Tskagi-Sugeno 퍼지 모델 기반 예측기 설계)

  • 김도완;박진배;장권규;정근호;주영훈
    • Proceedings of the Korean Institute of Intelligent Systems Conference
    • /
    • /
    • pp.523-527
    • /
    • 2004
  • This paper presents a new design methods of the short-term load forecasting system (STLFS) using the data mining. The proposed predictor takes form of the convex combination of the linear time series predictors for each inputs. The problem of estimating the consequent parameters is formulated by the convex optimization problem, which is to minimize the norm distance between the real load and the output of the linear time series estimator, The problem of estimating the premise parameters is to find the parameter value minimizing the error between the real load and the overall output. Finally, to show the feasibility of the proposed method, this paper provides the short-term load forecasting example.

  • PDF