Direct Model Reference Adaptive Fuzzy Control of Networked SISO Nonlinear Systems

This study presents a novel direct model reference fuzzy controller as applied to the control of a nonlinear system over a network subject to variable network induced time delay. The proposed method uses Pade approximation to cope with this condition. Unlike most approaches seen in the literature, w...

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Bibliographic Details
Published in:IEEE/ASME transactions on mechatronics 2016-02, Vol.21 (1), p.205-213
Main Authors: Khanesar, Mojtaba Ahmadieh, Oniz, Yesim, Kaynak, Okyay, Huijun Gao
Format: Article
Language:English
Subjects:
Adaptation models
Control systems
DC motors
Dynamical systems
Fuzzy Control
Mathematical model
Mathematical models
Model reference adaptive control
Networked control systems
Networks
Nonlinear dynamics
Nonlinear systems
Nonlinearity
Packet loss
Stability analysis
Takagi-Sugeno fuzzy model
Time delay
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Summary:This study presents a novel direct model reference fuzzy controller as applied to the control of a nonlinear system over a network subject to variable network induced time delay. The proposed method uses Pade approximation to cope with this condition. Unlike most approaches seen in the literature, which are mostly model based and necessitate the solution of a set of linear matrix inequalities, the proposed approach is online and can be applied to nonlinear systems with a little knowledge about the structure of the system and the values of its parameters. The stability of the proposed method is proved using an appropriate Lyapunov function. The approach is implemented and tested on a dc motor with nonlinear characteristics and nonlinear state-dependent disturbance. It is shown that it is capable of controlling the system over a network subject to variable network-induced time delay with bounded tracking error. In addition, the effect of packet losses is considered in the implementation part and it is seen that the system can be controlled under these conditions too.
ISSN:1083-4435
1941-014X
DOI:10.1109/TMECH.2015.2498169