Fuzzy-Model-Based Control of an Overhead Crane With Input Delay and Actuator Saturation
Fuzzy-Model-Based Control of an Overhead Crane With Input Delay and Actuator Saturation
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DOI：
10.1109/tfuzz.2011.2164083
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发表时间：
2012-02
影响因子：
11.9
通讯作者：
Yan Zhao;Huijun Gao
中科院分区：
文献类型：
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作者：
Yan Zhao;Huijun Gao
研究了具有输入延迟和执行器饱和的非线性桥式起重机系统的T-S模糊控制问题。将起重机复杂非线性动力系统建模为输入饱和的三规则T-S模糊模型。在模糊模型的基础上，设计了状态反馈控制器，使系统从椭球出发时的轨迹保持在椭球内，并在椭球内引入衰减率以加快响应速度。此外，由于实际设备中经常出现输入延迟，因此还考虑了执行器饱和的延迟反馈控制。建立了模糊控制器的时滞相关存在条件，使得起重机可以将载荷以极大抑制的摆角放置在期望位置，其中闭环系统的轨迹从有界集合开始渐近收敛到一个收缩不变椭球。结果以线性矩阵不等式的形式表示，可以很容易地通过标准数值软件求解。仿真结果表明了所提控制方法的可行性和有效性。
This paper investigates the problem of a Takagi-Sugeno (T-S) fuzzy-model-based control of a nonlinear overhead crane system with input delay and actuator saturation. The complex nonlinear dynamic system of the crane is modeled as a three-rule T-S fuzzy model with a saturated input. Based on the fuzzy model, a state-feedback controller is designed so that trajectories of the system that start from an ellipsoid will remain in it, where a decay rate is introduced to accelerate the response speed. Besides, since the input delay often appears in real equipment, the delayed feedback control is also considered with respect to the actuator saturation. Delay-dependent existence conditions of the fuzzy controller are established such that the load can be placed in a desired position by the crane with a much suppressed swing angle, where trajectories of the closed-loop system that start from a bounded set will asymptotically converge to a contractively invariant ellipsoid. The results are formulated in the form of linear matrix inequalities, which can be readily solved via standard numerical software. Simulations on the true plant are illustrated to show the feasibility and effectiveness of the proposed control method.