This paper is concerned with the problem of designing fuzzy controllers for a class of nonlinear dynamic systems. The considered nonlinear systems are described by T-S fuzzy models with nonlinear local models, and the fuzzy models have fewer fuzzy rules than conventional T-S fuzzy models with local linear models. A new fuzzy control scheme with local nonlinear feedbacks is proposed, and the corresponding control synthesis conditions are given in terms of solutions to a set of linear matrix inequalities (LMIs). In contrast to the existing methods for fuzzy control synthesis, the new proposed control design method is based on fewer fuzzy rules and less computational burden. Moreover, the local nonlinear feedback laws in the new fuzzy controllers are also helpful in achieving good control effects. Numerical examples are given to illustrate the effectiveness of the proposed method.

Control Synthesis of Continuous-Time T-S Fuzzy Systems With Local Nonlinear Models

Underactuated robotics is an emerging research direction in the field of robotics. The control input of the underactuated robot is less than the degree of freedom of the system. It has the advantag...

https://journals.sagepub.com/doi/pdf/10.1177/1729881419862164

Underactuated robotics: A review:

Adaptive fuzzy controller: Application to the control of the temperature of a dynamic room in real time

Friction is often ignored when designing a controller for the ball and plate system, which can lead to steady-error and stick-slip phenomena, especially for the small amplitude command. It is difficult to achieve high-precision control performance for the ball and plate system because of its friction. A novel reference compensation strategy is presented to attenuate the aftereffects caused by the friction. To realize this strategy, a linear control law is proposed based on a reduced-order observer. Neither the accurate friction model nor the estimation of specific characteristic parameters is needed in this design. Moreover, the describing function method illustrates that the limit cycle can be avoided. Finally, the comparative mathematical simulations and the practical experiments are used to validate the effectiveness of the proposed method.

A novel disturbance-observer based friction compensation scheme for ball and plate system

This paper proposes a double feedback loop structure for tracking control of the ball and plate system on the experimental platform BPVS-JLU I. The ball and plate system BPVS-JLU I is introduced and its mathematical model is presented. A single input rule modules fuzzy logic controller with dynamic importance degree is utilized in the external loop, while a switching servo controller is used in the inner loop. Experiments have proved that tracking controller with a double feedback loop structure does stabilize the ball and plate system. When given trajectory is a circle with radius 150 (mm) and the desired ball tracking velocity is 3 (mm/s), average position tracking error is 10.761 (mm).

Xingzhe Fan

Papers

Trajectory planning and tracking of ball and plate system using hierarchical fuzzy control scheme