Experimental application of Takagi-Sugeno observers and controllers in a nonlinear electromechanical system
[EN] In this paper, a systematic methodology to design fuzzy Takagi-Sugeno observers and controllers will be used to estimate the angular positions and speeds, as well as to stabilise an experimental mechanical system with 3 degrees of freedom (fixed quadrotor). Takagi-Sugeno observers and controlle...
| Autores: | , , , |
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| Tipo de recurso: | artículo |
| Fecha de publicación: | 2013 |
| País: | España |
| Institución: | Universitat Politècnica de València (UPV) |
| Repositorio: | RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia |
| Idioma: | inglés |
| OAI Identifier: | oai:riunet.upv.es:10251/150453 |
| Acceso en línea: | https://riunet.upv.es/handle/10251/150453 |
| Access Level: | acceso abierto |
| Palabra clave: | Takagi-Sugeno (T-S) fuzzy model Observer-based control Linear matrix inequalities (LMIs) Experimental application INGENIERIA DE SISTEMAS Y AUTOMATICA |
| Sumario: | [EN] In this paper, a systematic methodology to design fuzzy Takagi-Sugeno observers and controllers will be used to estimate the angular positions and speeds, as well as to stabilise an experimental mechanical system with 3 degrees of freedom (fixed quadrotor). Takagi-Sugeno observers and controllers are compared to observers and controllers based on the linearized model, both designed with the same optimization criteria and design parameters. Experimental results confirm that Takagi-Sugeno models and observers behave similarly to linear ones around the linearization point, but have a better performance over a larger operating range, as intuitively expected. |
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