Robust H∞ Fuzzy Dynamic Output Feedback Control of Nonlinear NCS and Its Application

The problem of time delay induced by communication channel in nonlinear networked control system (NCS) is studied. The nonlinear plant is modeled by a T-S fuzzy model and the time delays are modeled by a finite state Markov process with partially known transition probability matrix. The controller's member functions and premise variables can be different with those of the plant. The membership functions are approximated as polynomial functions and incorporated into the design of a fuzzy output feedback controller which can be computed in terms of a sum of square inequalities. Using the software NS2 to simulate real networked performance, we designed and implemented a real-time simulation platform for NCS. A truck-trailer experiment was carried out on the platform and the simulations have demonstrated the effectiveness of the proposed approach.