Takagi–Sugeno fuzzy payload estimation and adaptive control

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

Research output: Contribution to journalConference articleScientificpeer-review

4 Citations (Scopus)
23 Downloads (Pure)


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 languageEnglish
Pages (from-to)844-849
Issue number1
Publication statusPublished - 2017
Event20th World Congress of the International Federation of Automatic Control (IFAC), 2017 - Toulouse, France
Duration: 9 Jul 201714 Jul 2017
Conference number: 20


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


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