Nonlinear modelling and optimal control via Takagi-Sugeno fuzzy techniques: A quadrotor stabilization

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61989100%3A27240%2F20%3A10244861" target="_blank" >RIV/61989100:27240/20:10244861 - isvavai.cz</a>

Výsledek na webu

<a href="http://iris.elf.stuba.sk/JEEEC/rtoc.html" target="_blank" >http://iris.elf.stuba.sk/JEEEC/rtoc.html</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.2478/jee-2020-0001" target="_blank" >10.2478/jee-2020-0001</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Nonlinear modelling and optimal control via Takagi-Sugeno fuzzy techniques: A quadrotor stabilization

Popis výsledku v původním jazyce

Using the principles of Takagi-Sugeno fuzzy modelling allows the integration of flexible fuzzy approaches and rigorous mathematical tools of linear system theory into one common framework. The rule-based T-S fuzzy model splits a nonlinear system into several linear subsystems. Parallel Distributed Compensation (PDC) controller synthesis uses these T-S fuzzy model rules. The resulting fuzzy controller is nonlinear, based on fuzzy aggregation of state controllers of individual linear subsystems. The system is optimized by the linear quadratic control (LQC) method, its stability is analysed using the Lyapunov method. Stability conditions are guaranteed by a system of linear matrix inequalities (LMIs) formulated and solved for the closed loop system with the proposed PDC controller. The additional GA optimization procedure is introduced, and a new type of its fitness function is proposed to improve the closed-loop system performance.

Název v anglickém jazyce

Nonlinear modelling and optimal control via Takagi-Sugeno fuzzy techniques: A quadrotor stabilization

Popis výsledku anglicky

Using the principles of Takagi-Sugeno fuzzy modelling allows the integration of flexible fuzzy approaches and rigorous mathematical tools of linear system theory into one common framework. The rule-based T-S fuzzy model splits a nonlinear system into several linear subsystems. Parallel Distributed Compensation (PDC) controller synthesis uses these T-S fuzzy model rules. The resulting fuzzy controller is nonlinear, based on fuzzy aggregation of state controllers of individual linear subsystems. The system is optimized by the linear quadratic control (LQC) method, its stability is analysed using the Lyapunov method. Stability conditions are guaranteed by a system of linear matrix inequalities (LMIs) formulated and solved for the closed loop system with the proposed PDC controller. The additional GA optimization procedure is introduced, and a new type of its fitness function is proposed to improve the closed-loop system performance.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20205 - Automation and control systems

Projekt

<a href="/cs/project/EF16_019%2F0000867" target="_blank" >EF16_019/0000867: Centrum výzkumu pokročilých mechatronických systémů</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2020

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

Journal of electrical engineering

ISSN

1335-3632

e-ISSN

—

Svazek periodika

71

Číslo periodika v rámci svazku

1

Stát vydavatele periodika

SK - Slovenská republika

Počet stran výsledku

10

Strana od-do

1-10

Kód UT WoS článku

000521829400001

EID výsledku v databázi Scopus

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