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 journalArticlepeer-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 languageEnglish
    Pages (from-to)31-38
    Number of pages8
    JournalISA Transactions
    Volume78
    DOIs
    Publication statusPublished - 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

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