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

15 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
JournalISA Transactions
DOIs
Publication statusAccepted/In press - 2018 Jan 1

Keywords

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

ASJC Scopus subject areas

  • Instrumentation
  • Computer Science Applications
  • Electrical and Electronic Engineering
  • Applied Mathematics

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