Optimal fuzzy controller based on non-monotonic Lyapunov function with a case study on laboratory helicopter

0505120 - ÚTIA 2020 RIV US eng J - Journal Article
Behzadimanesh, S. - Fatehi, A. - Fakhimi Derakhshan, Siavash
Optimal fuzzy controller based on non-monotonic Lyapunov function with a case study on laboratory helicopter.
International Journal of Systems Science. Roč. 50, č. 3 (2019), s. 652-667. ISSN 0020-7721. E-ISSN 1464-5319
Institutional support: RVO:67985556
Keywords : Takagi-Sugenofuzzy systems * common quadratic Lyapunov function * non-monotonic Lyapunov function * optimal fuzzy control * laboratory twin-rotor helicopter * linear matrix inequalities
OECD category: Automation and control systems
Impact factor: 2.149, year: 2019
Method of publishing: Limited access
http://library.utia.cas.cz/separaty/2019/AS/fakhimi-0505120.pdf https://www.tandfonline.com/doi/full/10.1080/00207721.2019.1567864

This paper presents a new approach to design an observer-based optimal fuzzy state feedback controller for discrete-time Takagi–Sugeno fuzzy systems via LQR based on the non-monotonic Lyapunov function. Non-monotonic Lyapunov stability theorem proposed less conservative conditions rather than common quadratic method. To compare with optimal fuzzy feedback controller design based on common quadratic Lyapunov function, this paper proceeds reformulation of the observer-based optimal fuzzy state feedback controller based on common quadratic Lyapunov function. Also in both methodologies, the dependence of optimisation problem on initial conditions is omitted. As a practical case study, the controllers are implemented on a laboratory twin-rotor helicopter to compare the controllers' performance.
Permanent Link: http://hdl.handle.net/11104/0296951