A robust L1 controller design for continuous-time TS systems with persistent bounded disturbance and actuator saturation

Vafamand, Navid; Asemani, Mohammad Hassan; Khayatiyan, Alireza

doi:10.1016/j.engappai.2016.09.002

Cited by 37 publications

(32 citation statements)

References 32 publications

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“…The main property of the signum and saturation functions is the inherit boundedness that characterizes the disturbance as a persistent bounded signal. The persistent bounded disturbance belongs to L ∞ space and generally does not converge to zero when t → ∞ [31]. It should be noted that, considering signum function as disturbance, does not change the behavior of the original system and the system equilibrium point is maintained at the origin.…”

Section: A Nonsmooth Function As Persistent Bounded Disturbancementioning

confidence: 99%

“…In the definition (21), the ratio of the infinity norm of the output with respect to the infinity norm of the disturbance is considered which is different from those presented in [31] and [33]. In [31] and [33], the ratio of the infinity norm of the state with respect to the infinity norm of the disturbance is utilized. Therefore, the peak of the output vector y can be reduced by the level under the effect of the peak of the persistent bounded disturbance nsf (x).…”

Section: B L 1 Performance Criterionmentioning

confidence: 99%

“…The null term (24) will be added to the time derivative of NQLF to obtain more relaxed conditions. Lemma 1 [31]: If a real scalar function S(t) satisfies the differential inequalitẏ S(t) ≤ −αS(t) + βv(t) (25) where α and β are positive scalar, then…”

Section: Slack Matrices and Fruitful Lemmasmentioning

confidence: 99%

See 2 more Smart Citations

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

Vafamand

Asemani

Khayatiyan

et al. 2020

IEEE Trans. Syst. Man Cybern, Syst.

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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-inputbounded-output stability scheme and L 1 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-inthe-loop results are compared with the published literature with the same topic. Index Terms-Electric power steering (EPS) system, hardwarein-the-loop (HIL), helicopter system, nonsmooth dynamical equations, robust L 1 controller, servo-system, signum function, Takagi-Sugeno (TS) fuzzy model.

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Section: A Nonsmooth Function As Persistent Bounded Disturbancementioning

confidence: 99%

Section: B L 1 Performance Criterionmentioning

confidence: 99%

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

Vafamand

Asemani

Khayatiyan

et al. 2020

IEEE Trans. Syst. Man Cybern, Syst.

Self Cite

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“…The complicated multistates estimation algorithms which always include matrix multiplications and integral of variables require a high calculation speed which will increase the hardware cost. In addition, the active actuator output saturation exists in almost all the real applications [26,27,34,35]. Considering the possible actuator output saturation and other dynamic disturbances, such as the friction in the model 1and 2…”

Section: Disturbance Observer Based Active Control 21 Seat Suspensiomentioning

confidence: 99%

“…Pan et al propose tracking control method for nonlinear suspension system with disturbance compensation [25]. Saturation is another important issue in practical applications that needs to be paid attention [26]. In the literature, several methods have been proposed to handle the effects of saturation [27].…”

Section: Introductionmentioning

confidence: 99%

Disturbance observer based Takagi-Sugeno fuzzy control for an active seat suspension

Ning

Sun

Zhang

et al. 2017

Mechanical Systems and Signal Processing

101

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In this paper, a disturbance observer based Takagi-Sugeno (TS) fuzzy controller is proposed for an active seat suspension, and this controller is validated by both simulations and experiments. The proposed controller applies the seat acceleration and seat suspension deflection which can be easily measured in practical application as feedbacks. A disturbance observer that can estimate disturbance caused by friction force, model simplification, and control output error is used to compensate a ∞ state feedback controller. The TS fuzzy control method is applied to enhance the controller's performance by considering the variation of driver's weight. Because the vertical vibration of heavy duty vehicle seat is highest in the frequency range 2 Hz to 4 Hz, it is reasonable to focus on controlling low frequency vibration and maintain seat suspension's passivity at high frequency (isolating vibration) to release the requirement to the actuator. The simulation and experimental results show that the active seat suspension with the proposed controller can effectively isolate vibration under 4.5 Hz when compared with a well-tuned passive seat suspension. The active controller is further validated under bump and random road tests with 55 Kg and 70 Kg loads, respectively. The bump road test shows the controller has good transient response capability. The random road test result is presented both in time domain and frequency domain. The controlled seat suspension root-mean-square (RMS) acceleration is reduced by 45.5% and 49.5%, respectively, when compared with a well-tuned passive seat suspension. The proposed active seat suspension controller is very practical for application and can greatly improve heavy duty driver's ride comfort.

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Mixed H∞/passive Vibration Control for Nonlinear Active Suspension of In-Wheel Motor Driven Electric Vehicles Subject to Finite-Time State Constraint and Input Saturation

Wang

Huang

Jing

2021

Lecture Notes in Electrical Engineering

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A robust L1 controller design for continuous-time TS systems with persistent bounded disturbance and actuator saturation

Cited by 37 publications

References 32 publications

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

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

Disturbance observer based Takagi-Sugeno fuzzy control for an active seat suspension

Mixed H∞/passive Vibration Control for Nonlinear Active Suspension of In-Wheel Motor Driven Electric Vehicles Subject to Finite-Time State Constraint and Input Saturation

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