T–S fuzzy model-based tracking control of a one-dimensional manipulator actuated by pneumatic artificial muscles

Pneumatic artificial muscle (PAM) has highly nonlinear and time-varying behavior due to gas compression and nonlinear elasticity of the bladder containers. Hence, it is difficult to achieve excellent tracking performance when using classical control methods. This study proposes a Takagi–Sugeno (T–S) fuzzy model-based control for improving control performance. The proposed approach decomposes the model of a nonlinear system into a set of linear subsystems. This allows, the T–S fuzzy model-based controller to use simple linear control techniques providing a systematic framework for the design of a state feedback controller. Stability analysis is carried out using Lyapunov direct method. The powerful LMI Toolbox in MATLAB is employed to solve linear matrix inequalities (LMIs) to obtain the controller gains. Experimental results verified that the proposed controller can achieve excellent tracking performance under different disturbances.     

Iterative methods for solving extended general mixed variational inequalities

In this paper, we introduce and consider a new class of mixed variational inequalities involving four operators, which are called extended general mixed variational inequalities. Using the resolvent operator technique, we establish the equivalence between the extended general mixed variational inequalities and fixed point problems as well as resolvent equations. We use this alternative equivalent formulation to suggest and analyze some iterative methods for solving general mixed variational inequalities. We study the convergence criteria for the suggested iterative methods under suitable conditions. Our methods of proof are very simple as compared with other techniques. The results proved in this paper may be viewed as refinements and important generalizations of the previous known results.     

Some new error inequalities for a generalized quadrature rule of open type

Some new error inequalities for a generalized quadrature rule of open type are established. Especially, two sharp inequalities are derived when n is an odd and an even integer, respectively.     

State estimation for fuzzy cellular neural networks with time delay in the leakage term, discrete and unbounded distributed delays

This paper deals with the problem of state estimation for fuzzy cellular neural networks (FCNNs) with time delay in the leakage term, discrete and unbounded distributed delays. In this paper, leakage delay in the leakage term is used to unstable the neuron states. It is challenging to develop a delay dependent condition to estimate the unstable neuron states through available output measurements such that the error-state system is globally asymptotically stable. By constructing the Lyapunov-Krasovskii functional which contains a triple-integral term, an improved delay-dependent stability criterion is derived in terms of linear matrix inequalities (LMIs). However, by using the free-weighting matrices method, a simple and efficient criterion is derived in terms of LMIs for estimation. The restriction such as the time-varying delay which was required to be differentiable or even its time-derivative which was assumed to be smaller than one, are removed. Instead, the time-varying delay is only assumed to be bounded. Finally, numerical examples and its simulations are given to demonstrate the effectiveness of the derived results.     

一类基于观测器的非线性网络化控制系统的绝对稳定性

主要考虑了基于观测器的Lurie网络化控制系统的绝对稳定性问题. 由于采用了基于观测器的反馈控制器, 传感器到控制器的网络诱导时延和控制器到执行器的网络诱导时延不再能合并到一起处理. 首先通过状态增广方法将Lurie网络化控制系统建模为一个多时滞的Lurie系统, 然后利用Newton-Leibniz公式和添加自由权矩阵的方法给出了时滞依赖的稳定性条件. 在此基础上, 给出三种求解控制器和观测器增益矩阵的方法. 此外, 还分别给出了被控对象存在范数有界不确定性和结构不确定性时系统的鲁棒稳定性条件及鲁棒控制器设计方法, 所有得到的结果都是以线性矩阵不等式的形式给出的. 便于利用线性矩阵不等式工具包进行求解. 最后, 通过两个仿真算例说明了方法的可行性和有效性.     

An alternative Kalman-Yakubovich-Popov lemma and some extensions

This paper introduces an alternative formulation of the Kalman-Yakubovich-Popov (KYP) Lemma, relating an infinite dimensional Frequency Domain Inequality (FDI) to a pair of finite dimensional Linear Matrix Inequalities (LMI). It is shown that this new formulation encompasses previous generalizations of the KYP Lemma which hold in the case the coefficient matrix of the FDI does not depend on frequency. In addition, it allows the coefficient matrix of the frequency domain inequality to vary affinely with the frequency parameter. One application of this results is illustrated in an example of computing upper bounds to the structured singular value with frequency-dependent scalings.     

Reducing conservativeness in recent stability conditions of TS fuzzy systems

In this correspondence a new simple strategy for reducing the conservativeness in stability analysis of continuous-time Takagi-Sugeno fuzzy systems based on fuzzy Lyapunov functions is proposed. This new strategy generalizes previous results.     

A systematic approach to improve multiple Lyapunov function stability and stabilization conditions for fuzzy systems

This paper presents a systematic approach for decreasing conservativeness in stability analysis and control design for Takagi-Sugeno (TS) systems. This approach is based on the idea of multiple Lyapunov functions together with simple techniques for introducing slack matrices. Unlike some previous approaches based on multiple Lyapunov functions, both the stability and the stabilization conditions are written as linear matrix inequality (LMI) problems. The proposed approach reduces the number of inequalities and guarantees extra degrees of freedom to the LMI problems. Numeric examples illustrate the effectiveness of this method.     

Anti-windup strategies for discrete-time switched systems subject to input saturation

This paper deals with the design of anti-windup compensator for discrete-time switched systems subject to input saturation. The cases of static and dynamic anti-windup controllers are addressed aiming at maximising the estimate of the basin of attraction of the origin for the closed-loop system. Two aspects of the switching law are taken into account during the design: either it is arbitrary or it is a part of the complete control law. Theoretical conditions allowing to synthesise the anti-windup compensator are mainly described through linear matrix inequalities. Computational oriented conditions are then provided to solve convex optimisation problems that are able to give a constructive solution.     

Fuzzy distributed cooperative tracking for a swarm of unmanned aerial vehicles with heterogeneous goals

This article proposes a systematic analysis for a tracking problem which ensures cooperation amongst a swarm of unmanned aerial vehicles (UAVs), modelled as nonlinear systems with linear and angular velocity constraints, in order to achieve different goals. A distributed Takagi–Sugeno (TS) framework design is adopted for the representation of the nonlinear model of the dynamics of the UAVs. The distributed control law which is introduced is composed of both node and network level information. Firstly, feedback gains are synthesised using a parallel distributed compensation (PDC) control law structure, for a collection of isolated UAVs; ignoring communications among the swarm. Then secondly, based on an alternation-like procedure, the resulting feedback gains are used to determine Lyapunov matrices which are utilised at network level to incorporate into the control law, the relative differences in the states of the vehicles, and to induce cooperative behaviour. Eventually stability is guaranteed for the entire swarm. The control synthesis is performed using tools from linear control theory: in particular the design criteria are posed as linear matrix inequalities (LMIs). An example based on a UAV tracking scenario is included to outline the efficacy of the approach.