Fuzzy control design for nonlinear dynamic systems using constrained H∞/LTR via T-S fuzzy model

• Main Authors: Andri Ashfahani, 安德立
• Other Authors: Shun-Feng Su
• Format: Others
• Language: en_US
• Published: 2014
• Online Access: http://ndltd.ncl.edu.tw/handle/m3zn2d

碩士 === 國立臺灣科技大學 === 電機工程系 === 102 === Tracking problems or stabilization problems for nonlinear systems are difficult, especially when not all the state are available. This study proposed a combination of constrained H∞ and loop transfer recovery (LTR) to control nonli-near systems via Takagi-Sugeno fuzzy model. First, the Takagi-Sugeno fuzzy model is employed to represent a nonlinear system. Next, based on the fuzzy model, a Kalman filter is developed. The controller gain is calculated by using constrained H∞ theory. LTR is then applied to reinforce the robust property of the controller. Simulation results for application to a two-link robot system are dem-onstrated. The performance of the designed system is assessed in the frequency domain and via the time-domain simulation. The simulation shows that the pro-posed method is more applicable in practical implementation.