Direct Model Reference Takagi-Sugeno Fuzzy Control of SISO Nonlinear Systems

This study presents a novel direct model reference fuzzy controller. It relaxes the special conditions on the reference model that is required by some of the approaches described in the literature, as well as covering a more general class of Takagi-Sugeno (T-S) systems. The stability of the proposed...

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Bibliographic Details
Published in:IEEE transactions on fuzzy systems 2011-10, Vol.19 (5), p.914-924
Main Authors: Khanesar, Mojtaba Ahmadieh, Kaynak, Okyay, Teshnehlab, M.
Format: Article
Language:English
Subjects:
Adaptation model
Algorithms
Bismuth
Dynamical systems
Electric circuits
Fuzzy control
Fuzzy systems
Joints
Mathematical model
Mathematical models
Model reference
model reference adaptive control
Nonlinear systems
Nonlinearity
Robots
Takagi-Sugeno (T-S) fuzzy model
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Summary:This study presents a novel direct model reference fuzzy controller. It relaxes the special conditions on the reference model that is required by some of the approaches described in the literature, as well as covering a more general class of Takagi-Sugeno (T-S) systems. The stability of the proposed method is proved using a proper Lyapunov function. In addition, the effects of modeling errors on the proposed controller are considered, and a robust modification algorithm to alleviate this problem is introduced and analyzed. The proposed method is then simulated on a flexible joint robot in a feedback linearization form and on Chua's chaotic electrical circuit. Finally, it is implemented and tested on a nonlinear dc motor with nonlinear state-dependent disturbance.
ISSN:1063-6706
1941-0034
DOI:10.1109/TFUZZ.2011.2150757