TS Fuzzy Model-Based Controller Design for a Class of Nonlinear Systems Including Nonsmooth Functions

Navid Vafamand, Mohammad Hassan Asemani, Alireza Khayatiyan, Mohammad Hassan Khooban, Tomislav Dragicevic

Research output: Contribution to journalJournal articleResearchpeer-review

7 Citations (Scopus)
88 Downloads (Pure)

Abstract

This paper proposes a novel robust controller design for a class of nonlinear systems including hard nonlinearity functions. The proposed approach is based on Takagi-Sugeno (TS) fuzzy modeling, nonquadratic Lyapunov function, and nonparallel distributed compensation scheme. In this paper, a novel TS modeling of the nonlinear dynamics with signum functions is proposed. This model can exactly represent the original nonlinear system with hard nonlinearity while the discontinuous signum functions are not approximated. Based on the bounded-input-bounded-output stability scheme and L₁ performance criterion, new robust controller design conditions in terms of linear matrix inequalities are derived. Three practical case studies, electric power steering system, a helicopter model and servo-mechanical system, are presented to demonstrate the importance of such class of nonlinear systems comprising signum function. Furthermore, to show the superiorities of the proposed approach, it is applied to these systems; and, the experimental real-time hardware-in-the-loop results are compared with the published literature with the same topic.
Original languageEnglish
JournalI E E E Transactions on Systems, Man and Cybernetics, Part A: Systems & Humans
VolumePP
Issue number99
Number of pages12
ISSN1083-4427
DOIs
Publication statusE-pub ahead of print - 2019

Fingerprint

Nonlinear systems
Controllers
Control nonlinearities
Lyapunov functions
Linear matrix inequalities
Helicopters
Hardware

Keywords

  • Electric power steering (EPS) system
  • Hardware-in-the-loop (HIL)
  • Helicopter system
  • Nonsmooth dynamical equations
  • Robust L₁ controller
  • Servo-system
  • Signum function
  • Takagi-Sugeno (TS) fuzzy model

Cite this

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title = "TS Fuzzy Model-Based Controller Design for a Class of Nonlinear Systems Including Nonsmooth Functions",
abstract = "This paper proposes a novel robust controller design for a class of nonlinear systems including hard nonlinearity functions. The proposed approach is based on Takagi-Sugeno (TS) fuzzy modeling, nonquadratic Lyapunov function, and nonparallel distributed compensation scheme. In this paper, a novel TS modeling of the nonlinear dynamics with signum functions is proposed. This model can exactly represent the original nonlinear system with hard nonlinearity while the discontinuous signum functions are not approximated. Based on the bounded-input-bounded-output stability scheme and L₁ performance criterion, new robust controller design conditions in terms of linear matrix inequalities are derived. Three practical case studies, electric power steering system, a helicopter model and servo-mechanical system, are presented to demonstrate the importance of such class of nonlinear systems comprising signum function. Furthermore, to show the superiorities of the proposed approach, it is applied to these systems; and, the experimental real-time hardware-in-the-loop results are compared with the published literature with the same topic.",
keywords = "Electric power steering (EPS) system, Hardware-in-the-loop (HIL), Helicopter system, Nonsmooth dynamical equations, Robust L₁ controller, Servo-system, Signum function, Takagi-Sugeno (TS) fuzzy model",
author = "Navid Vafamand and Asemani, {Mohammad Hassan} and Alireza Khayatiyan and Khooban, {Mohammad Hassan} and Tomislav Dragicevic",
year = "2019",
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language = "English",
volume = "PP",
journal = "I E E E Transactions on Systems, Man and Cybernetics, Part A: Systems & Humans",
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TS Fuzzy Model-Based Controller Design for a Class of Nonlinear Systems Including Nonsmooth Functions. / Vafamand, Navid; Asemani, Mohammad Hassan; Khayatiyan, Alireza ; Khooban, Mohammad Hassan; Dragicevic, Tomislav.

In: I E E E Transactions on Systems, Man and Cybernetics, Part A: Systems & Humans, Vol. PP, No. 99, 2019.

Research output: Contribution to journalJournal articleResearchpeer-review

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AU - Vafamand, Navid

AU - Asemani, Mohammad Hassan

AU - Khayatiyan, Alireza

AU - Khooban, Mohammad Hassan

AU - Dragicevic, Tomislav

PY - 2019

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AB - This paper proposes a novel robust controller design for a class of nonlinear systems including hard nonlinearity functions. The proposed approach is based on Takagi-Sugeno (TS) fuzzy modeling, nonquadratic Lyapunov function, and nonparallel distributed compensation scheme. In this paper, a novel TS modeling of the nonlinear dynamics with signum functions is proposed. This model can exactly represent the original nonlinear system with hard nonlinearity while the discontinuous signum functions are not approximated. Based on the bounded-input-bounded-output stability scheme and L₁ performance criterion, new robust controller design conditions in terms of linear matrix inequalities are derived. Three practical case studies, electric power steering system, a helicopter model and servo-mechanical system, are presented to demonstrate the importance of such class of nonlinear systems comprising signum function. Furthermore, to show the superiorities of the proposed approach, it is applied to these systems; and, the experimental real-time hardware-in-the-loop results are compared with the published literature with the same topic.

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