Takagi-Sugeno Fuzzy Payload Estimation and Adaptive Control

被引：3
作者：
Beyhan, Selami [1 ]
Sarabi, Farnaz Eghbal [2 ]
Lendek, Zsofia [3 ]
Babuska, Robert [2 ]
机构：
[1] Pamukkale Univ, Dept Elect & Elect Engn, Kinikli Campus, TR- 20070 Denizli, Turkey
[2] Delft Univ Technol, Delft Ctr Syst & Control, Delft, Netherlands
[3] Tech Univ Cluj Napoca, Dept Automat, Memorandumului 28, Cluj Napoca 400114, Romania
来源：
IFAC PAPERSONLINE | 2017年 / 50卷 / 01期
关键词：
TS fuzzy modeling; adaptive payload estimation; flexible-transmission system; observer-based control; stability; ROBOTIC MANIPULATOR; OBSERVERS; REGULATORS; SYSTEMS; MODEL;
D O I：
10.1016/j.ifacol.2017.08.150
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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. (C) 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
引用
收藏
页码：844 / 849
页数：6
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