TY - JOUR
T1 - Analysis of Controllability, Observability and Stabilization for a Class of Systems Described by Takagi-Sugeno Fuzzy Models by means of Fuzzy Pole Assignment
AU - Hernández Cortes, Tonatiuh
AU - Grande Meza, Araceli
AU - Rodríguez Valdez, Jorge
AU - Páramo Carranza, Luis Alberto
AU - Tapia Herrera, Ricardo
AU - Meda Campana, Jesus Alberto
N1 - Publisher Copyright:
© 2003-2012 IEEE.
PY - 2019/8
Y1 - 2019/8
N2 - The present work is concerned to solve the problem of nonlinear robotic control systems on the basis of Takagi-Sugeno (T-S) fuzzy models. In addition, controllability and observability studies for T-S fuzzy model systems are considered for Single-Input Single-Output (SISO) and Multiple-Input Multiple-Output (MIMO) systems. In particular, the robust pole assignment approach is extended to the fuzzy field. This approach is used to design fuzzy stabilizers and fuzzy observers directly on the overall T-S fuzzy system. The latter one is the representation of the nonlinear robotic system, which is linearized around certain operation regions. The suggested method is considered for either SISO or MIMO systems. Furthermore, the method allows inducing an arbitrary behavior into the fuzzy plant in a relatively easy way. Two examples are used to verify the effectiveness of the proposed approach. The results are compared with the well-known Parallel Distributed Compensation (PDC) method, which is designed on the basis of Linear Matrix Inequalities (LMIs).
AB - The present work is concerned to solve the problem of nonlinear robotic control systems on the basis of Takagi-Sugeno (T-S) fuzzy models. In addition, controllability and observability studies for T-S fuzzy model systems are considered for Single-Input Single-Output (SISO) and Multiple-Input Multiple-Output (MIMO) systems. In particular, the robust pole assignment approach is extended to the fuzzy field. This approach is used to design fuzzy stabilizers and fuzzy observers directly on the overall T-S fuzzy system. The latter one is the representation of the nonlinear robotic system, which is linearized around certain operation regions. The suggested method is considered for either SISO or MIMO systems. Furthermore, the method allows inducing an arbitrary behavior into the fuzzy plant in a relatively easy way. Two examples are used to verify the effectiveness of the proposed approach. The results are compared with the well-known Parallel Distributed Compensation (PDC) method, which is designed on the basis of Linear Matrix Inequalities (LMIs).
KW - Fuzzy Control Systems
KW - Fuzzy Controllability
KW - Fuzzy Observability
KW - Robust Pole Assignment
KW - Takagi-Sugeno Fuzzy Model
UR - http://www.scopus.com/inward/record.url?scp=85076902351&partnerID=8YFLogxK
U2 - 10.1109/TLA.2019.8932372
DO - 10.1109/TLA.2019.8932372
M3 - Artículo
AN - SCOPUS:85076902351
SN - 1548-0992
VL - 17
SP - 1382
EP - 1389
JO - IEEE Latin America Transactions
JF - IEEE Latin America Transactions
IS - 8
M1 - 8932372
ER -