General SISO Takagi-Sugeno fuzzy systems with linear ruleconsequent are universal approximators

Takagi-Sugeno (TS) fuzzy systems have been employed as fuzzy controllers and fuzzy models in successfully solving difficult control and modeling problems in practice. Virtually all the TS fuzzy systems use linear rule consequent. At present, there exist no results (qualitative or quantitative) to answer the fundamentally important question that is especially critical to TS fuzzy systems as fuzzy controllers and models, “Are TS fuzzy systems with linear rule consequent universal approximators?” If the answer is yes, then how can they be constructed to achieve prespecified approximation accuracy and what are the sufficient renditions on systems configuration? In this paper, we provide answers to these questions for a general class of single-input single-output (SISO) fuzzy systems that use any type of continuous input fuzzy sets, TS fuzzy rules with linear consequent and a generalized defuzzifier containing the widely used centroid defuzzifier as a special case. We first constructively prove that this general class of SISO TS fuzzy systems can uniformly approximate any polynomial arbitrarily well and then prove, by utilizing the Weierstrass approximation theorem, that the general TS fuzzy systems can uniformly approximate any continuous function with arbitrarily high precision. Furthermore, we have derived a formula as part of sufficient conditions for the fuzzy approximation that can compute the minimal upper bound on the number of input fuzzy sets and rules needed for any given continuous function and prespecified approximation error bound, An illustrative numerical example is provided     

Sufficient conditions for the stability of linear Takagi-Sugeno free fuzzy systems

In this paper, we will study the stability issues of the linear Takagi-Sugeno (T-S) free fuzzy systems. Based on matrix norm, we propose a new sufficient condition for the linear T-S free fuzzy system to be globally asymptotically stable. We then study the stability analysis in the case of systems with consequent parameter uncertainty. Based on Mayer's convergent theorem, we propose a sufficient condition, which is easily implemented, for the systems with consequent parameter uncertainty to be globally asymptotically stable.     

Relaxed stabilization conditions for continuous-time Takagi-Sugeno fuzzy control systems

This paper deals with the stabilization of continuous-time Takagi-Sugeno (T-S) fuzzy control systems. Based on fuzzy Lyapunov functions and nonparallel distributed compensation (non-PDC) control laws, new stabilization conditions are represented in the form of linear matrix inequalities (LMIs). The theoretical proof shows that the proposed conditions can provide less conservatism than the existing results in the literature. Moreover, in order to demonstrate the effectiveness of the non-PDC control laws, the problem of H_∞ controller design for T-S fuzzy systems is also studied. Simulation examples are given to illustrate the merits of the proposed methods.     

Observers for Takagi-Sugeno fuzzy systems

We focus on the analysis and design of two different sliding mode observers for dynamic Takagi-Sugeno (TS) fuzzy systems. A nonlinear system of this class is composed of multiple affine local linear models that are smoothly interpolated by weighting functions resulting from a fuzzy partitioning of the state space of a given nonlinear system subject to observation. The Takagi-Sugeno fuzzy system is then an accurate approximation of the original nonlinear system. Our approach to the analysis and design of observers for Takagi-Sugeno fuzzy systems is based on extending sliding mode observer schemes to the case of interpolated multiple local affine linear models. Thus, our main contribution is nonlinear observer analysis and design methods that can effectively deal with model/plant mismatches. Furthermore, we consider the difficult case when the weighting functions in the Takagi-Sugeno fuzzy system depend on the estimated state.     

Sufficient conditions for stability of linear time-varying systems

In this paper we consider sufficient conditions for the exponential stability of linear time-varying systems of the form . Stability guaranteeing upper bounds for different measures of parameter variations are derived.     

一般齐次T-S模糊系统的逼近性能

为剖析一般齐次T-S模糊系统的逼近性能,通过广泛总结常用模糊集的特点,明确定义了一种具有普遍意义的输入空间的一般模糊划分(GFP).基于输入采用GFP的一般齐次T-S模糊系统的解析结构,证明了该类一般齐次T-S模糊系统能够以任意精度逼近任意非线性函数,并得到了一个其作为通用逼近器的充分条件.作为GFP的一种退化,进一步研究了输入采用线性模糊划分(LFP)的一般齐次T-S模糊系统的一阶逼近性能.仿真实例验证了所得理论结果的有效性,并考察了充分条件的保守性.这为基于齐次T S模糊模型的复杂系统建模与控制提供了理论指导.     

具有广义线性隶属函数的典型模糊系统的通用逼近性*

设计了一种将三角形和梯形隶属函数作为特例的广义线性隶属函数,推导了输入采用广义线性隶属函数的典型Mamdani模糊系统的解析结构,证明了典型模糊系统是单调、递减的有界连续函数;在此基础上证明了该类模糊系统能以任意精度逼近任意连续实函数,最后仿真实例证明了本设计的有效性。     

Relaxed stability and performance conditions for Takagi-Sugeno fuzzy systems with knowledge on membership function overlap.

This correspondence presents a relaxation of some earlier linear matrix inequality (LMI) conditions, which allow setting up less conservative stability or performance conditions for Takagi-Sugeno fuzzy models. Unlike the previous literature, this correspondence takes into account the knowledge of the membership functions' shape by considering bounds on them and their cross products (interpreted as an overlap measure), introducing auxiliary LMI variables. Numerical examples illustrate the achieved improvements.     

Comparison of necessary conditions for typical Takagi-Sugeno andMamdani fuzzy systems as universal approximators

Both Takagi-Sugeno (TS) and Mamdani fuzzy systems are known to be universal approximators. We investigate whether one type of fuzzy approximators is more economical than the other. The TS fuzzy systems are the typical two-input single-output TS fuzzy systems. We first establish necessary conditions on minimal system configuration of the TS fuzzy systems as function approximators. We show that the number of the input fuzzy sets and fuzzy rules needed by the TS fuzzy systems depend on the number and locations of the extrema of the function to be approximated. The resulting conditions reveal the strength of the TS fuzzy approximators. The drawback, though, is that a large number of fuzzy rules must be employed to approximate periodic or highly oscillatory functions. We then compare these necessary conditions with the ones that we established for the general Mamdani fuzzy systems in our previous papers. Results of the comparison unveil that the minimal system configurations of the TS and Mamdani fuzzy systems are comparable. Finally, we prove that the minimal configuration of the TS fuzzy systems can be reduced and becomes smaller than that of the Mamdani fuzzy systems if nontrapezoidal or nontriangular input fuzzy sets are used. We believe that all the results in present paper hold for the TS fuzzy systems with more than two input variables but the proof seems to be mathematically difficult. Our new findings are valuable in designing more compact fuzzy systems, especially fuzzy controllers and models which are two most popular and successful applications of the fuzzy approximators     

两类模糊系统具有插值性的充要条件

当模糊系统具有插值性时,它必具有泛逼近性.因此,由插值性可以分析模糊系统的逼近能力.本文讨论了由“交”和“并”的方式聚合推理规则所生成的两类模糊系统的插值性问题.首先,通过分析由“单点”模糊化方法、CRI(com positional ru le of inference)算法以及“重心法”构造的模糊系统,指出模糊系统是否具有插值性关键取决于模糊蕴含算子的第二个变量为0和1时的表达式或取值.在此基础上,得到两类模糊系统具有插值性的充要条件.最后给出了满足这两个充要条件的一些常用的蕴涵算子.     

Robust stability of impulsive Takagi-Sugeno fuzzy systems with parametric uncertainties

This paper presents a kind of time-varying impulsive Takagi-Sugeno (T-S) fuzzy model with parametric uncertainties in which each subsystem of the model is time-varying. Several robust stabilities of time-varying systems with parametric uncertainties, such as general robust stability, robustly asymptotical stability and exponential stability, are studied using uniformly positive definite matrix functions and the Lyapunov method. Specifically, robust stability conditions of time-invariant impulsive T-S fuzzy systems are also derived in the formulation of quasi-linear matrix inequalities (QLMIs) and an iterative LMIs algorithm is designed for solving QLMIs. Finally, a unified chaotic system with continuous periodic switch and a unified time-invariant chaotic system are used for demonstrating the effectiveness of our respective results.     

Sufficient and necessary conditions for discrete-time nonlinear switched systems with uniform local exponential stability

In this paper, we investigate sufficient and necessary conditions of uniform local exponential stability (ULES) for the discrete-time nonlinear switched system (DTNSS). We start with the definition of T-step common Lyapunov functions (CLFs), which is a relaxation of traditional CLFs. Then, for a time-varying DTNSS, by constructing such a T-step CLF, a necessary and sufficient condition for its ULES is provided. Afterwards, we strengthen it based on a T-step Lipschitz continuous CLF. Especially, when the system is time-invariant, by the smooth approximation theorem, the Lipschitz continuity condition of T-step CLFs can further be replaced by continuous differentiability; and when the system is time-invariant and homogeneous, due to the extension of Weierstrass approximation theorem, T-step continuously differentiable CLFs can even be strengthened to be T-step polynomial CLFs. Furthermore, three illustrative examples are additionally used to explain our main contribution. In the end, an equivalence between time-varying DTNSSs and their corresponding linearisations is discussed.     

执行器饱和T-S模糊系统的鲁棒耗散容错控制

研究了一类执行器饱和状态变时滞T-S模糊系统的鲁棒容错控制问题. 通过时滞相关Lyapunov函数和对状态的椭球域约束, 基于线性矩阵不等式技术, 提出了非线性系统稳定的不变集条件和模糊鲁棒耗散容错控制器存在的充分条件. 控制方案的设计结果不仅为执行器饱和状态变时滞T-S模糊系统的无源控制和H1鲁棒控制建立了统一框架, 而且保证了闭环控制系统对执行器故障的稳定性和容错性. 最后以时滞倒车系统的控制仿真验证了方法 的有效性.     

On the stability issues of linear Takagi-Sugeno fuzzy models

Stability issues of linear Takagi-Sugeno (TS) fuzzy models (1985, 1992) are investigated. We first propose a systematic way of searching for a common matrix, which, in turn, is related to stability for N subsystems that are under a pairwise commutative assumption. The robustness issue under uncertainty in each subsystem is then considered. We then show that the pairwise commutative assumption can, in fact, be relaxed by a similar approach as that for uncertainty. The result is applicable to a rather broad class of TS models, which are nonHurwitz and/or nonpairwise commutative     

基于T-S模型的非线性系统模糊聚类辨识方法

提出一种基于T-S模型的非线性系统模糊聚类辨识方法,对T-S模糊模型的前提部分和结论部分进行分开辨识,既简化该模型的辨识步骤,又提高它的泛化能力,同时也解决了T-S模糊模型随辨识系统复杂程度提高而规则数增大的问题。对一个非线性系统辨识的仿真结果验证了这种模糊聚类辨识方法的有效性。     

Stability analysis and design of Takagi-Sugeno fuzzy systems

This work presents stable composite control criteria for multivariable Takagi-Sugeno (T-S) fuzzy systems. On the basis of the linear matrix inequality (LMI) control strategy and parametric optimization, the composite fuzzy control algorithms are derived. Unlike earlier studies of fuzzy control systems on an LMI framework, this investigation develops a supervisory control approach, such that a fuzzy controller can be synthesized more efficiently. Moreover, a robust control scheme is applied to the T-S fuzzy model with parametric uncertainties. The sufficient conditions are deduced in the form of reduced LMIs and adaptive tuning rules. Finally, numeric simulations are given to validate the proposed approach.     

Sufficient and necessary conditions for Boolean fuzzy systems as universal approximators

A formula is first presented to compute the lower upper bounds on the number of fuzzy sets to achieve pre-specified approximation accuracy for an arbitrary multivariate continuous function. The necessary condition for Boolean fuzzy systems as universal approximators with minimal system configurations is then discussed. Two examples are provided to demonstrate how to design a Boolean fuzzy system in order to approximate a given continuous function with a required approximation accuracy.     

Sufficient conditions on fuzzy logic controllers as universalapproximators

We first establish sufficient conditions for two classes of fuzzy logic controllers (FLCs) in Castro (1995) to approximate real polynomials to any degree of accuracy on a compact domain by using techniques different from those in Ying (1994). Then, we give sufficient conditions for them to be universal approximators. Explicit formulas, which can be used to compute the number of fuzzy rules, are provided simultaneously. Compared with the results in Ying (1994), the conditions here are less conservative since they require fewer fuzzy rules to approximate the same function, and the formulas derived here can be used to determine the number of fuzzy rules directly for multivariable polynomials. Sufficient conditions and explicit formulas to estimate the number of fuzzy rules are also provided when the functions to be approximated are not exactly known.     

Identification of complex systems based on neural and Takagi-Sugeno fuzzy model

The paper describes a neuro-fuzzy identification approach, which uses numerical data as a starting point. The proposed method generates a Takagi-Sugeno fuzzy model, characterized with transparency, high accuracy and a small number of rules. The process of self-organizing of the identification model consists of three phases: clustering of the input-output space using a self-organized neural network; determination of the parameters of the consequent part of a rule from over-determined batch least-squares formulation of the problem, using singular value decomposition algorithm; and on-line adaptation of these parameters using recursive least-squares method. The verification of the proposed identification approach is provided using four different problems: two benchmark identification problems, speed estimation for a dc motor drive, and estimation of the temperature in a tunnel furnace for clay baking.     

Local and global bifurcations in simple Takagi-Sugeno fuzzy systems

The relevance of bifurcation analysis in Takagi-Sugeno (T-S) fuzzy systems is emphasized mainly through examples. It is demonstrated that even the most simple cases can show a great variety of behaviors. To understand the richness of asymptotic dynamics one can find in T-S systems, a methodology is proposed by invoking bifurcation theory. Several local and global bifurcations (some of them, degenerate) are detected and summarized in the corresponding bifurcation diagrams. It is claimed,that this kind of careful analysis could help to cope with some criticism raised regarding the blind use of fuzzy systems