Robust stability analysis and fuzzy-scheduling control for nonlinear systems subject to actuator saturation
Robust stability analysis and fuzzy-scheduling control for nonlinear systems subject to actuator saturation
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DOI：
10.1109/cdc.2002.1184487
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发表时间：
2002-12
期刊：
影响因子：
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通讯作者：
Yong-Yan Cao;Zongli Lin
中科院分区：
文献类型：
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作者：
Yong-Yan Cao;Zongli Lin
本文利用Takagi-Sugeno（TS）模糊建模方法对具有执行器饱和的非线性系统进行稳定性分析和控制设计。在我们的TS模糊表示，建模误差也被捕获的范数有界的不确定性。首先建立了模糊系统的集合不变性条件。将TS模糊系统吸引域的估计问题转化为线性矩阵不等式优化问题。通过将状态反馈增益看作是LMI优化问题中的一个额外的自由参数，我们得到了一种设计状态反馈增益的方法，使吸引域最大化。为了进一步扩大吸引域，还引入了模糊调度控制器的设计方法。倒立摆的实验结果表明了该模糊控制器的有效性。
In this paper, the Takagi-Sugeno (TS) fuzzy modeling approach is utilized to carry out the stability analysis and control design for nonlinear systems with actuator saturation. In our TS fuzzy representation, the modeling error is also captured by norm-bounded uncertainties. A set invariance condition for the fuzzy system is first established. The problem of estimating the domain of attraction of a TS fuzzy system is formulated and solved as an LMI optimization problem. By viewing the state feedback gain as an extra free parameter in the LMI optimization problem, we arrive at a method for designing state feedback gain that maximizes the domain of attraction. A fuzzy scheduling control design method is also introduced to further enlarge the domain of attraction. An inverted pendulum is used to show the effectiveness of the proposed fuzzy controller.