Robust anti-windup controller design of time-delay fuzzy systems with actuator saturations

Ting, Chen‐Sheng; Chang, Yong‐Nong

doi:10.1016/j.ins.2011.03.015

Cited by 40 publications

(14 citation statements)

References 31 publications

(40 reference statements)

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“…Moreover, a dynamic output feedback fuzzy controller is considered in [22], in which both the amplitude saturation and the rate limitation are taken into consideration. Furthermore, the authors of [23] deal with the timedelay fuzzy systems with actuator saturations, and propose an anti-windup control approach to maximize the size of the estimated domain of attraction.…”

Section: Introductionmentioning

confidence: 99%

Gain-scheduling control of T-S fuzzy systems with actuator saturation

Liu

Ban

et al. 2017

IFS

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Abstract. This paper presents a gain-scheduling output feedback control design method for T-S fuzzy systems with actuator saturation. Different from existing control design methods for T-S fuzzy systems, the basic idea of the proposed approach is to transform the T-S fuzzy model with saturation nonlinearity into the form of linear fractional transformation (LFT). Instead of commonly used fuzzy controllers, a gain-scheduled output feedback controller in the LFT form is introduced to stabilize the saturated T-S fuzzy system with guaranteed H∞ performance. The problem of establishing regional stability and performance of the closed-loop nonlinear system are tackled by using robust control techniques. As a result, the conservatism introduced by dealing with the quadratic terms of normalized fuzzy weighting functions can be avoided. The proposed controller synthesis problem is cast as a convex optimization in terms of linear matrix inequalities (LMIs) and can be solved efficiently. An example of balancing the inverted pendulum with bounded actuation is provided to illustrate the effectiveness of the proposed design method.

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Section: Introductionmentioning

confidence: 99%

Gain-scheduling control of T-S fuzzy systems with actuator saturation

Liu

Ban

et al. 2017

IFS

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“…80, pp. 142-151, 2016 143 143 in [25,26]. Conventional AW methods include the use of a limited integrator, conditional integration, and tracking back calculation method.…”

Section: Introductionmentioning

confidence: 99%

“…Con ello el sistema presenta oscilaciones más acotadas en el estado estacionario, pero su estado transitorio es más lento. La principal motivación de esta investigación fue obtener un método para ajustar controladores difusos PD+I con sistema anti-windup (FPD+I AW) con una respuesta rápida en estado transitorio y sin que presenten un comportamiento in [25,26]. Conventional AW methods include the use of a limited integrator, conditional integration, and tracking back calculation method.…”

Section: Introductionunclassified

A novel method for fuzzy scale factors scheduling in fuzzy PD+I with anti-windup system controllers

Sartorius-Castellanos¹,

Moreno-Vázquez²,

Antonio-Ortiz³

et al. 2016

Rev. Fac. Ing. Univ. Antioquia

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ABSTRACT:The adjustment of scale factors in fuzzy controllers is a key factor in their correct functioning. In two-inputs fuzzy PID controllers, such as fuzzy PI+D (FPI+D) and fuzzy PD+I (FPD+I), the adjustment of scale factors is directly related to the adjustment of the gains of a PID controller using some of the traditional methods of adjustment. In systems that have control signal saturation, fuzzy PID controllers require anti-windup systems (AW) that limit the controller's integral action. In these situations, the adjustments of scale factors are not directly related to the adjustment of gains of a PID controller. Its use increases the overall gain system and creates an unbounded controller, which causes a faster response in the transient state but an oscillatory behavior and even critical stability in the steady state of the response. A solution to this problem is to reduce the output scale factor, to create a bounded controller, in which the tracking time constant is augmented. Consequently, the system presents more bounded oscillations in the steady state, but the transient response is slower. The main motivation of this research was to develop an approach for adjusting fuzzy PD+I controllers with an anti-windup system (FPD+I AW) with faster response in the transient state and without oscillatory behavior in the steady state. This approach uses a second fuzzy controller, which adjusts the output scale factor and the tracking time constant according to the actual system error. To verify the effectiveness of the proposed approach, a fuzzy PD+I controller with an AW system based on tracking back calculation and fuzzy scale factor scheduling (FPD+I AW-FSFS) was implemented and used to control the speed in a direct current motor with control signal saturation and was compared with the responses of FPD+I unbounded and FPD+I bounded controllers with AWs based on tracking back calculation, thereby proving the effectiveness of the proposed method. RESUMEN:El ajuste de los factores de escala en los controladores difusos es un factor clave para su correcto funcionamiento. En controladores difusos PID con dos entradas, como los controladores difusos PI+D (FPI+D) y PD+I (FPD+I), el ajuste de los factores de escala está directamente relacionado con el ajuste de las ganancias de un controlador PID, utilizando alguno de los métodos tradicionales de ajuste. En sistemas que presentan saturación en la señal de control, los controladores difusos PID requieren un sistema de anti-windup (AW) que limite la acción integral del controlador. En estos casos, el ajuste de los factores de escala no está relacionado directamente al ajuste de las ganancias de un controlador PID. Utilizar este ajuste de ganancias, incrementa la ganancia general del sistema, creando un controlador sin acotar, el cual presenta una rápida respuesta en el estado transitorio, pero un comportamiento oscilatorio, e incluso críticamente inestable en la respuesta en estado estable. Una solución a este problema es reducir el factor de escala de salida, creando u...

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“…In the T-S control framework, there are a couple of works devoted to the analysis or control design of saturated systems (for instance Cao and Lin (2003), Tseng and Chen (2006), Du and Zhang (2009), Bezzaoucha et al (2013), Ariño et al (2010)). However, very few papers are dedicated to AW synthesis for T-S systems: in Ting and Chang (2011), the authors addressed a two-step approach to deal with a continuous time-delay T-S systems; in Zhang et al (2009), an interesting one-step approach based on piecewise fuzzy AW dynamic output feedback controller (DOFC) for discrete-time T-S systems has been proposed; note that these results seem to be valid only for systems that are stable in openloop since no admissible sets of initial conditions are defined; and, at last, Song et al (2011) which extends the approach proposed in Gomes da Silva and Tarbouriech (2005) to the case of T-S systems. It is noteworthy that an important point is neglected in all these results: besides control input saturation, the T-S model is only valid on a given subset of the state space.…”

Section: Introductionmentioning

confidence: 99%