System Identification I

The notion of fuzziness as defined in this paper relates to situations in which the source of imprecision is not a random variable or a stochastic process, but rather a class or classes which do not possess sharply defined boundaries, e.g., the “class of bald men,” or the “class of numbers which are much greater than 10,” or the “class of adaptive systems,” etc. A basic concept which makes it possible to treat fuzziness in a quantitative manner is that of a fuzzy set, that is, a class in which there may be grades of membership intermediate between full membership and non-membership. Thus, a fuzzy set is characterized by a membership function which assigns to each object its grade of membership (a number lying between 0 and 1) in the fuzzy set. After a review of some of the relevant properties of fuzzy sets, the notions of a fuzzy system and a fuzzy class of systems are introduced and briefly analyzed. The paper closes with a section dealing with optimization under fuzzy constraints in which an approach to...

Fuzzy sets and systems

Barrier Lyapunov functions for Nussbaum gain adaptive control of full state constrained nonlinear systems

The standard extended state observer based control (ESOBC) method is only applicable for a class of single-input-single-output essential-integral-chain systems with matched uncertainties. It is noticed that systems with nonintegral-chain form and mismatched uncertainties are more general and widely exist in practical engineering systems, where the standard ESOBC method is no longer available. To this end, it is imperative to explore new ESOBC approach for these systems to extend its applicability. By appropriately choosing a disturbance compensation gain, a generalized ESOBC (GESOBC) method is proposed for nonintegral-chain systems subject to mismatched uncertainties without any coordinate transformations. The proposed method is able to extend to multi-input-multi-output systems with almost no modification. Both numerical and application design examples demonstrate the feasibility and efficacy of the proposed method.

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Generalized Extended State Observer Based Control for Systems With Mismatched Uncertainties

Feel lonely? What about reading books? Book is one of the greatest friends to accompany while in your lonely time. When you have no friends and activities somewhere and sometimes, reading book can be a great choice. This is not only for spending the time, it will increase the knowledge. Of course the b=benefits to take will relate to what kind of book that you are reading. And now, we will concern you to try reading modelling and control of robot manipulators as one of the reading material to finish quickly.

Modelling and Control of Robot Manipulators

https://hal.archives-ouvertes.fr/hal-01059896/document

Fuzzy adaptive controller for MIMO nonlinear systems with known and unknown control direction

In this paper; we are interested principally in dynamic modelling of quadrotor while taking into account the high-order nonholonomic constraints in order to develop a new control scheme as well as the various physical phenomena, which can influence the dynamics of a flying structure. These permit us to introduce a new state-space representation. After, the use of Backstepping approach for the synthesis of tracking errors and Lyapunov functions, a sliding mode controller is developed in order to ensure Lyapunov stability, the handling of all system nonlinearities and desired tracking trajectories. Finally simulation results are also provided in order to illustrate the performances of the proposed controller. Keywords—Dynamic modelling, nonholonomic constraints, Backstepping, Sliding mode.

Sliding Mode Control Based on Backstepping Approach for an UAV Type-Quadrotor

How to design a fuzzy adaptive controller based on observers for uncertain affine nonlinear systems

This paper deals with the control and observation of an induction motor using a sliding-mode technique. The authors' aim is to regulate the speed and the square of the rotor flux magnitude to specified references. Assuming that all the states are measured, sliding surfaces are proposed within a sliding-mode control framework. Then, the stator voltages are derived such that the sliding surfaces are asymptotically attractive since, in practice, the rotor fluxes are not usually measurable, a sliding-mode observer is derived to estimate the rotor fluxes. Furthermore, it is shown that their observer is robust against modeling uncertainties and measurement noise. To illustrate their purpose, they present experimental results for a 0.37-kW induction motor obtained on a digital-signal-processor-based system (TMS 320C31/40 MHz). The experimental results show that the proposed control system is robust against rotor resistance variations.

Real-time sliding-mode observer and control of an induction motor

https://hal.archives-ouvertes.fr/hal-01063895/document

Mohamed Tadjine

Papers

Fuzzy adaptive controller for MIMO nonlinear systems with known and unknown control direction

Sliding Mode Control Based on Backstepping Approach for an UAV Type-Quadrotor

How to design a fuzzy adaptive controller based on observers for uncertain affine nonlinear systems

Real-time sliding-mode observer and control of an induction motor

Design of a unified adaptive fuzzy observer for uncertain nonlinear systems