Takagi–Sugeno fuzzy payload estimation and adaptive control

Selami Beyhan; Farnaz Eghbal Sarabi; Zsofia Lendek; Robert Babuška

doi:10.1016/j.ifacol.2017.08.150

Takagi–Sugeno fuzzy payload estimation and adaptive control

Selami Beyhan, Farnaz Eghbal Sarabi, Zsofia Lendek, Robert Babuška

Research output: Contribution to journal › Conference article › Scientific › peer-review

4 Citations (Scopus)

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Abstract

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.

Original language	English
Pages (from-to)	844-849
Journal	IFAC-PapersOnLine
Volume	50
Issue number	1
DOIs	https://doi.org/10.1016/j.ifacol.2017.08.150
Publication status	Published - 2017
Event	20th World Congress of the International Federation of Automatic Control (IFAC), 2017 - Toulouse, France Duration: 9 Jul 2017 → 14 Jul 2017 Conference number: 20 https://www.ifac2017.org

Keywords

adaptive payload estimation
flexible-transmission system
observer-based control
stability
TS fuzzy modeling

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10.1016/j.ifacol.2017.08.150

1-s2.0-S2405896317301921-mainFinal published version, 582 KB

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title = "Takagi–Sugeno fuzzy payload estimation and adaptive control",

abstract = "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.",

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T1 - Takagi–Sugeno fuzzy payload estimation and adaptive control

AU - Beyhan, Selami

AU - Sarabi, Farnaz Eghbal

AU - Lendek, Zsofia

AU - Babuška, Robert

N1 - Conference code: 20

PY - 2017

Y1 - 2017

N2 - 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.

AB - 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.

KW - adaptive payload estimation

KW - flexible-transmission system

KW - observer-based control

KW - stability

KW - TS fuzzy modeling

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DO - 10.1016/j.ifacol.2017.08.150

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T2 - 20th World Congress of the International Federation of Automatic Control (IFAC), 2017

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Takagi–Sugeno fuzzy payload estimation and adaptive control

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