Reachable set estimation for Takagi-Sugeno fuzzy systems against unknown output delays with application to tracking control of AUVs

Zhixiong Zhong; Yanzheng Zhu; Choon Ki Ahn

doi:10.1016/j.isatra.2018.03.001

Reachable set estimation for Takagi-Sugeno fuzzy systems against unknown output delays with application to tracking control of AUVs

Zhixiong Zhong, Yanzheng Zhu, Choon Ki Ahn

Research output: Contribution to journal › Article › peer-review

50 Citations (Scopus)

Abstract

In this paper, we address the problem of reachable set estimation for continuous-time Takagi-Sugeno (T-S) fuzzy systems subject to unknown output delays. Based on the reachable set concept, a new controller design method is also discussed for such systems. An effective method is developed to attenuate the negative impact from the unknown output delays, which likely degrade the performance/stability of systems. First, an augmented fuzzy observer is proposed to capacitate a synchronous estimation for the system state and the disturbance term owing to the unknown output delays, which ensures that the reachable set of the estimation error is limited via the intersection operation of ellipsoids. Then, a compensation technique is employed to eliminate the influence on the system performance stemmed from the unknown output delays. Finally, the effectiveness and correctness of the obtained theories are verified by the tracking control of autonomous underwater vehicles.

Original language	English
Pages (from-to)	31-38
Number of pages	8
Journal	ISA Transactions
Volume	78
DOIs	https://doi.org/10.1016/j.isatra.2018.03.001
Publication status	Published - 2018 Jul

Bibliographical note

Funding Information:
This work was supported in part by the National Natural Science Foundation of China (61603221); the Natural Science Foundation of Fujian Province, China under Grant 2017J01781; the National Natural Science Foundation of Shandong Province under Grant ZR2016FB11; the Science and Research Project of Fujian Province under Grant (JK2017034, JAT170434, JAT170426); the China Postdoctoral Science Foundation (2017M610437); the Special Foundation for Postdoctoral Science Foundation of Shandong Province under Grant 201601014; Applied Research Project for Postdoctoral Researchers of Qingdao (2016109); and in part by Research Fund for the Taishan Scholar Project of Shandong Province of China.

Funding Information:
This work was supported in part by the National Natural Science Foundation of China ( 61603221 ); the Natural Science Foundation of Fujian Province, China under Grant 2017J01781 ; the National Natural Science Foundation of Shandong Province under Grant ZR2016FB11 ; the Science and Research Project of Fujian Province under Grant ( JK2017034 , JAT170434 , JAT170426 ); the China Postdoctoral Science Foundation ( 2017M610437 ); the Special Foundation for Postdoctoral Science Foundation of Shandong Province under Grant 201601014 ; Applied Research Project for Postdoctoral Researchers of Qingdao ( 2016109 ); and in part by Research Fund for the Taishan Scholar Project of Shandong Province of China.

Publisher Copyright:
© 2018 ISA

Copyright:
Copyright 2019 Elsevier B.V., All rights reserved.

Keywords

Autonomous underwater vehicle (AUV)
Reachable set estimation
Tracking control
Unknown output delays

ASJC Scopus subject areas

Control and Systems Engineering
Instrumentation
Computer Science Applications
Electrical and Electronic Engineering
Applied Mathematics

Access to Document

10.1016/j.isatra.2018.03.001

Cite this

@article{4bed3940053b46f9b2b64b2b4d76897f,

title = "Reachable set estimation for Takagi-Sugeno fuzzy systems against unknown output delays with application to tracking control of AUVs",

abstract = "In this paper, we address the problem of reachable set estimation for continuous-time Takagi-Sugeno (T-S) fuzzy systems subject to unknown output delays. Based on the reachable set concept, a new controller design method is also discussed for such systems. An effective method is developed to attenuate the negative impact from the unknown output delays, which likely degrade the performance/stability of systems. First, an augmented fuzzy observer is proposed to capacitate a synchronous estimation for the system state and the disturbance term owing to the unknown output delays, which ensures that the reachable set of the estimation error is limited via the intersection operation of ellipsoids. Then, a compensation technique is employed to eliminate the influence on the system performance stemmed from the unknown output delays. Finally, the effectiveness and correctness of the obtained theories are verified by the tracking control of autonomous underwater vehicles.",

keywords = "Autonomous underwater vehicle (AUV), Reachable set estimation, Tracking control, Unknown output delays",

author = "Zhixiong Zhong and Yanzheng Zhu and Ahn, {Choon Ki}",

note = "Funding Information: This work was supported in part by the National Natural Science Foundation of China (61603221); the Natural Science Foundation of Fujian Province, China under Grant 2017J01781; the National Natural Science Foundation of Shandong Province under Grant ZR2016FB11; the Science and Research Project of Fujian Province under Grant (JK2017034, JAT170434, JAT170426); the China Postdoctoral Science Foundation (2017M610437); the Special Foundation for Postdoctoral Science Foundation of Shandong Province under Grant 201601014; Applied Research Project for Postdoctoral Researchers of Qingdao (2016109); and in part by Research Fund for the Taishan Scholar Project of Shandong Province of China. Funding Information: This work was supported in part by the National Natural Science Foundation of China ( 61603221 ); the Natural Science Foundation of Fujian Province, China under Grant 2017J01781 ; the National Natural Science Foundation of Shandong Province under Grant ZR2016FB11 ; the Science and Research Project of Fujian Province under Grant ( JK2017034 , JAT170434 , JAT170426 ); the China Postdoctoral Science Foundation ( 2017M610437 ); the Special Foundation for Postdoctoral Science Foundation of Shandong Province under Grant 201601014 ; Applied Research Project for Postdoctoral Researchers of Qingdao ( 2016109 ); and in part by Research Fund for the Taishan Scholar Project of Shandong Province of China. Publisher Copyright: {\textcopyright} 2018 ISA Copyright: Copyright 2019 Elsevier B.V., All rights reserved.",

year = "2018",

month = jul,

doi = "10.1016/j.isatra.2018.03.001",

language = "English",

volume = "78",

pages = "31--38",

journal = "ISA Transactions",

issn = "0019-0578",

publisher = "International Society of Automation",

}

TY - JOUR

T1 - Reachable set estimation for Takagi-Sugeno fuzzy systems against unknown output delays with application to tracking control of AUVs

AU - Zhong, Zhixiong

AU - Zhu, Yanzheng

AU - Ahn, Choon Ki

N1 - Funding Information: This work was supported in part by the National Natural Science Foundation of China (61603221); the Natural Science Foundation of Fujian Province, China under Grant 2017J01781; the National Natural Science Foundation of Shandong Province under Grant ZR2016FB11; the Science and Research Project of Fujian Province under Grant (JK2017034, JAT170434, JAT170426); the China Postdoctoral Science Foundation (2017M610437); the Special Foundation for Postdoctoral Science Foundation of Shandong Province under Grant 201601014; Applied Research Project for Postdoctoral Researchers of Qingdao (2016109); and in part by Research Fund for the Taishan Scholar Project of Shandong Province of China. Funding Information: This work was supported in part by the National Natural Science Foundation of China ( 61603221 ); the Natural Science Foundation of Fujian Province, China under Grant 2017J01781 ; the National Natural Science Foundation of Shandong Province under Grant ZR2016FB11 ; the Science and Research Project of Fujian Province under Grant ( JK2017034 , JAT170434 , JAT170426 ); the China Postdoctoral Science Foundation ( 2017M610437 ); the Special Foundation for Postdoctoral Science Foundation of Shandong Province under Grant 201601014 ; Applied Research Project for Postdoctoral Researchers of Qingdao ( 2016109 ); and in part by Research Fund for the Taishan Scholar Project of Shandong Province of China. Publisher Copyright: © 2018 ISA Copyright: Copyright 2019 Elsevier B.V., All rights reserved.

PY - 2018/7

Y1 - 2018/7

N2 - In this paper, we address the problem of reachable set estimation for continuous-time Takagi-Sugeno (T-S) fuzzy systems subject to unknown output delays. Based on the reachable set concept, a new controller design method is also discussed for such systems. An effective method is developed to attenuate the negative impact from the unknown output delays, which likely degrade the performance/stability of systems. First, an augmented fuzzy observer is proposed to capacitate a synchronous estimation for the system state and the disturbance term owing to the unknown output delays, which ensures that the reachable set of the estimation error is limited via the intersection operation of ellipsoids. Then, a compensation technique is employed to eliminate the influence on the system performance stemmed from the unknown output delays. Finally, the effectiveness and correctness of the obtained theories are verified by the tracking control of autonomous underwater vehicles.

AB - In this paper, we address the problem of reachable set estimation for continuous-time Takagi-Sugeno (T-S) fuzzy systems subject to unknown output delays. Based on the reachable set concept, a new controller design method is also discussed for such systems. An effective method is developed to attenuate the negative impact from the unknown output delays, which likely degrade the performance/stability of systems. First, an augmented fuzzy observer is proposed to capacitate a synchronous estimation for the system state and the disturbance term owing to the unknown output delays, which ensures that the reachable set of the estimation error is limited via the intersection operation of ellipsoids. Then, a compensation technique is employed to eliminate the influence on the system performance stemmed from the unknown output delays. Finally, the effectiveness and correctness of the obtained theories are verified by the tracking control of autonomous underwater vehicles.

KW - Autonomous underwater vehicle (AUV)

KW - Reachable set estimation

KW - Tracking control

KW - Unknown output delays

UR - http://www.scopus.com/inward/record.url?scp=85044115804&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85044115804&partnerID=8YFLogxK

U2 - 10.1016/j.isatra.2018.03.001

DO - 10.1016/j.isatra.2018.03.001

M3 - Article

C2 - 29571583

AN - SCOPUS:85044115804

SN - 0019-0578

VL - 78

SP - 31

EP - 38

JO - ISA Transactions

JF - ISA Transactions

ER -

Reachable set estimation for Takagi-Sugeno fuzzy systems against unknown output delays with application to tracking control of AUVs

Abstract

Bibliographical note

Keywords

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this