This paper investigates the problem of output feedback robust H-infinity control for a class of nonlinear spatially distributed systems described by first-order hyperbolic partial differential equations (PDEs) with Markovian jumping actuator faults. The nonlinear hyperbolic PDE systems are first expressed by Takagi-Sugeno fuzzy models with parameter uncertainties, and then, the objective is to design a reliable distributed fuzzy static output feedback controller guaranteeing the stochastic exponential stability of the resulting closed-loop system with certain H-infinity disturbance attenuation performance. Based on a Markovian Lyapunov functional combined with some matrix inequality convexification techniques, two approaches are developed for reliable fuzzy static output feedback controller design of the underlying fuzzy PDE systems. It is shown that the controller gains can be obtained by solving a set of finite linear matrix inequalities based on the finite-difference method in space. Finally, two examples are presented to demonstrate the effectiveness of the proposed methods.
In this paper, an adaptive fuzzy backstepping output-feedback tracking control approach is proposed for a class of multi-input and multi-output (MIMO) stochastic nonlinear systems. The MIMO stochastic nonlinear systems under study are assumed to possess unstructured uncertainties, unknown dead-zones, and unknown control directions. By using a linear state transformation, the unknown control coefficients and the unknown slopes characteristic of the dead-zones are lumped together, and the original system is transformed to a new system on which the control design becomes feasible. Fuzzy logic systems are used to approximate the unstructured uncertainties, and a fuzzy state observer is designed to estimate the unmeasured states. By introducing a special Nussbaum gain function into the backstepping control design, a stable adaptive fuzzy output-feedback tracking control scheme is developed. The main features of the proposed adaptive control approach are that it can guarantee the stability of the closed-loop system, and the tracking errors converge to a small neighborhood of zero. Moreover, it can solve the problems of unknown control direction, unknown dead-zone, and unmeasured states simultaneously. Two simulation examples are provided to show the effectiveness of the proposed approach.
In this paper, a partial tracking error constrained fuzzy output-feedback dynamic surface control (DSC) scheme is proposed for a class of uncertain multi-input and multi-output (MIMO) nonlinear systems. The considered MIMO nonlinear systems contain unknown functions and without the requirement of their states being available for the controller design. With the help of fuzzy logic systems identifying the MIMO unknown nonlinear systems, a fuzzy adaptive observer is established to estimate the unmeasured states. By transforming the tracking errors into new virtual error variables and based on the DSC backstepping recursive design technique, a new adaptive fuzzy output-feedback control method is developed. It is proved that the proposed control approach can guarantee that all the signals of the resulting closed-loop system are bounded and the partial state tracking errors are confined all times within the prescribed bounds. The simulation results and comparisons with the previous control approaches confirm the effectiveness and utility of the proposed scheme.
In this paper, an adaptive fuzzy optimal control design is addressed for a class of unknown nonlinear discrete-time systems. The controlled systems are in a strict-feedback frame and contain unknown functions and nonsymmetric dead-zone. For this class of systems, the control objective is to design a controller, which not only guarantees the stability of the systems, but achieves the optimal control performance as well. This immediately brings about the difficulties in the controller design. To this end, the fuzzy logic systems are employed to approximate the unknown functions in the systems. Based on the utility functions and the critic designs, and by applying the backsteppping design technique, a reinforcement learning algorithm is used to develop an optimal control signal. The adaptation auxiliary signal for unknown dead-zone parameters is established to compensate for the effect of nonsymmetric dead-zone on the control performance, and the updating laws are obtained based on the gradient descent rule. The stability of the control systems can be proved based on the difference Lyapunov function method. The feasibility of the proposed control approach is further demonstrated via two simulation examples.
This paper is concerned with the nonfragile distributed H ∞ filtering problem for a class of discrete-time Takagi-Sugeno (T-S) systems in sensor networks. Additive filter gain uncertainties that reflect imprecision in filter implementation are considered. Based on the robust control approach, sufficient conditions are obtained to ensure that the filtering error system is asymptotically stable with a prescribed H ∞ performance level and the eigenvalues of the filtering error system in a given circular region. The filter parameters are determined by solving a set of linear matrix inequalities. A simulation study on the nonlinear tunnel diode circuit system is presented to show the effectiveness of the proposed design method.
Dealing with uncertainty is always a challenging problem, and different tools have been proposed to deal with it. Recently, a new model that is based on hesitant fuzzy sets has been presented to manage situations in which experts hesitate between several values to assess an indicator, alternative, variable, etc. Hesitant fuzzy sets suit the modeling of quantitative settings; however, similar situations may occur in qualitative settings so that experts think of several possible linguistic values or richer expressions than a single term for an indicator, alternative, variable, etc. In this paper, the concept of a hesitant fuzzy linguistic term set is introduced to provide a linguistic and computational basis to increase the richness of linguistic elicitation based on the fuzzy linguistic approach and the use of context-free grammars by using comparative terms. Then, a multicriteria linguistic decision-making model is presented in which experts provide their assessments by eliciting linguistic expressions. This decision model manages such linguistic expressions by means of its representation using hesitant fuzzy linguistic term sets.
In this paper, a hybrid fuzzy adaptive output feedback control design approach is proposed for a class of multiinput and multioutput strict-feedback nonlinear systems with unknown time-varying delays, unmeasured states, and input saturation. First, fuzzy logic systems are employed to approximate unknown nonlinear functions in the system. Next, a smooth function is used to approximate the input saturation and an adaptive fuzzy state observer is constructed to solve the problem of unmeasured states. Based on the designed adaptive fuzzy state observer, a serial-parallel estimation model is established. By applying adaptive fuzzy dynamic surface control technique and utilizing the prediction error between the system states observer model and the serial-parallel estimation model, a new fuzzy controller with the composite parameters adaptive laws is developed based on Lyapunov-Krasovskii functional. It is proved that all variables of the closed-loop system are bounded and the system outputs can follow the given bounded reference signals as close as possible. A simulation example is provided to further show the effectiveness of this novel control scheme.
The problem of fuzzy observer-based controller design is investigated for nonlinear networked control systems subject to imperfect communication links and parameter uncertainties. The nonlinear networked control systems with parameter uncertainties are modeled through an interval type-2 (IT2) Takagi-Sugeno (T-S) model, in which the uncertainties are handled via lower and upper membership functions. The measurement loss occurs randomly, both in the sensor-to-observer and the controller-to-actuator communication links. Specially, a novel data compensation strategy is adopted in the controller-to-actuator channel. The observer is designed under the unmeasurable premise variables case, and then, the controller is designed with the estimated states. Moreover, the conditions for the existence of the controller can ensure that the resulting closed-loop system is stochastically stable with the predefined disturbance attenuation performance. Two examples are provided to illustrate the effectiveness of the proposed method.
This paper investigates the adaptive fuzzy decentralized fault-tolerant control (FTC) problem for a class of nonlinear large-scale systems in strict-feedback form. The considered nonlinear system contains the unknown nonlinear functions, i.e., unmeasured states and actuator faults, which are modeled as both loss of effectiveness and lock-in-place. With the help of fuzzy logic systems to approximate the unknown nonlinear functions, a fuzzy adaptive observer is designed to estimate the unmeasured states. By combining the backstepping technique with the nonlinear FTC theory, a novel adaptive fuzzy decentralized FTC scheme is developed. It is proved that the proposed control approach can guarantee that all the signals of the resulting closed-loop system are bounded, and the tracking errors between the system outputs and the reference signals converge to a small neighborhood of zero by appropriate choice of the design parameters. Simulation results are provided to show the effectiveness of the control approach.
We first look at some nonstandard fuzzy sets, intuitionistic, and interval-valued fuzzy sets. We note both these allow a degree of commitment of less then one in assigning membership. We look at the formulation of the negation for these sets and show its expression in terms of the standard complement with respect to the degree of commitment. We then consider the complement operation. We describe its properties and look at alternative definitions of complement operations. We then focus on the Pythagorean complement. Using this complement, we introduce a class of nonstandard Pythagorean fuzzy subsets whose membership grades are pairs, (a, b) satisfying the requirement a 2 + b 2 ≤ 1. We introduce a variety of aggregation operations for these Pythagorean fuzzy subsets. We then look at multicriteria decision making in the case where the criteria satisfaction are expressed using Pythagorean membership grades. The issue of having to choose a best alternative in multicriteria decision making leads us to consider the problem of comparing Pythagorean membership grades.
Nowadays, societal and technological trends demand the management of large scale of decision makers in group decision-making (GDM) contexts. In a large-scale GDM, decision makers often have individual concerns and satisfactions, and also they will use heterogeneous preference representation structures to express their preferences. Meanwhile, it is difficult to set the numerical consensus threshold to judge whether a consensus degree can be acceptable or not in the consensus reaching process in a large-scale GDM. This study proposes a novel consensus reaching model for the heterogeneous large-scale GDM with the individual concerns and satisfactions. In this consensus reaching model, a selection process is proposed to obtain the individual preference vectors, to divide decision makers into different clusters, and to yield the preference vector of the large group. Following this, a consensus measure method that considers the individual concerns on alternatives is defined for measuring the consensus degree, and a linguistic approach is developed to measure the individual and collective satisfactions regarding the consensus degree. Finally, a feedback adjustment process is proposed and utilized to help decision makers adjust their preferences. A practical example and a simulation analysis are presented to demonstrate the validity of the proposed consensus reaching model.
This paper focuses on analyzing a new model transformation of discrete-time Takagi-Sugeno (T-S) fuzzy systems with time-varying delays and applying it to dynamic output feedback (DOF) controller design. A new comparison model is proposed by employing a new approximation for time-varying delay state, and then, a delay partitioning method is used to analyze the scaled small gain of this comparison model. A sufficient condition on discrete-time T-S fuzzy systems with time-varying delays, which guarantees the corresponding closed-loop system to be asymptotically stable and has an induced ℓ 2 disturbance attenuation performance, is derived by employing the scaled small-gain theorem. Then, the solvability condition for the induced ℓ 2 DOF control is also established, by which the DOF controller can be solved as linear matrix inequality optimization problems. Finally, examples are provided to illustrate the effectiveness of the proposed approaches.
This paper is concerned with dissipativity-based fuzzy integral sliding mode control (FISMC) of continuous-time Takagi-Sugeno (T-S) fuzzy systems with matched/unmatched uncertainties and external disturbance. To better accommodate the characteristics of T-S fuzzy models, an appropriate integral-type fuzzy switching surface is put forward by taking the state-dependent input matrix into account, which is the key contribution of the paper. Based on the utilization of Lyapunov function and property of the transition matrix for unmatched uncertainties, sufficient conditions are presented to guarantee the asymptotic stability of corresponding sliding mode dynamics with a strictly dissipative performance. A FISMC law is synthesized to drive system trajectories onto the fuzzy switching surface despite matched/unmatched uncertainties and external disturbance. A modified adaptive FISMC law is further designed for adapting the unknown upper bound of matched uncertainty. Two practical examples are provided to illustrate the effectiveness and advantages of developed FISMC scheme.
In this paper, the problem of l 2 - l ∞ filtering for a class of discrete-time Takagi-Sugeno (T-S) fuzzy time-varying delay systems is studied. Our attention is focused on the design of full- and reduced-order filters that guarantee the filtering error system to be asymptotically stable with a prescribed H ∞ performance. Sufficient conditions for the obtained filtering error system are proposed by applying an input-output approach and a two-term approximation method, which is employed to approximate the time-varying delay. The corresponding full- and reduced-order filter design is cast into a convex optimization problem, which can be efficiently solved by standard numerical algorithms. Finally, simulation examples are provided to illustrate the effectiveness of the proposed approaches.
This paper is focused on reliable fuzzy H ∞ controller design for active suspension systems with actuator delay and fault. The Takagi-Sugeno (T-S) fuzzy model approach is adapted in this study with the consideration of the sprung and the unsprung mass variation, the actuator delay and fault, and other suspension performances. By the utilization of the parallel-distributed compensation scheme, a reliable fuzzy H ∞ performance analysis criterion is derived for the proposed T-S fuzzy model. Then, a reliable fuzzy H ∞ controller is designed such that the resulting T-S fuzzy system is reliable in the sense that it is asymptotically stable and has the prescribed H ∞ performance under given constraints. The existence condition of the reliable fuzzy H ∞ controller is obtained in terms of linear matrix inequalities (LMIs) Finally, a quarter- vehicle suspension model is used to demonstrate the effectiveness and potential of the proposed design techniques.
The adaptive fuzzy identification and control problems are considered for a class of multi-input multi-output nonlinear systems with unknown functions and unknown dead-zone inputs. The main characteristics of the considered systems are that 1) they are composed of n subsystems and each subsystem is in nested lower triangular form, 2) dead-zone inputs are in nonsymmetric nonlinear form, and 3) dead-zone inputs appear nonlinearly in the systems and their parameters are not required to be known. The controller design for this class of systems is a difficult and complicated task because of the existences of unknown functions, the couplings among the nested subsystems, and the dead-zone inputs. In the controller design, the fuzzy logic systems are employed to approximate the unknown functions and the differential mean value theorem is used to separate dead-zone inputs. To compensate for dead-zone inputs, the compensative terms are designed in the controllers. The stability of the closed-loop system is proved via the Lyapunov stability theorem. A simulation example is provided to validate the feasibility of the approach.
In this paper, a new online scheme is presented to design the optimal coordination control for the consensus problem of multiagent differential games by fuzzy adaptive dynamic programming, which brings together game theory, generalized fuzzy hyperbolic model (GFHM), and adaptive dynamic programming. In general, the optimal coordination control for multiagent differential games is the solution of the coupled Hamilton-Jacobi (HJ) equations. Here, for the first time, GFHMs are used to approximate the solutions (value functions) of the coupled HJ equations, based on policy iteration algorithm. Namely, for each agent, GFHM is used to capture the mapping between the local consensus error and local value function. Since our scheme uses the single-network architecture for each agent (which eliminates the action network model compared with dual-network architecture), it is a more reasonable architecture for multiagent systems. Furthermore, the approximation solution is utilized to obtain the optimal coordination control. Finally, we give the stability analysis for our scheme, and prove the weight estimation error and the local consensus error are uniformly ultimately bounded. Further, the control node trajectory is proven to be cooperative uniformly ultimately bounded.
In this paper, the model approximation problem is investigated for a Takagi-Sugeno fuzzy switched system with stochastic disturbance. For a high-order considered system, our attention is focused on the construction of a reduced-order model, which not only approximates the original system well with a Hankel-norm performance but translates it into a lower dimensional fuzzy switched system as well. By using the average dwell time approach and the piecewise Lyapunov function technique, a sufficient condition is first proposed to guarantee the mean-square exponential stability with a Hankel-norm error performance for the error system. The model approximation is then converted into a convex optimization problem by using a linearization procedure. Finally, simulations are provided to illustrate the effectiveness of the proposed theory.
This paper deals with the problem of reliable and robust H ∞ static output feedback (SOF) controller synthesis for continuous-time nonlinear stochastic systems with actuator faults. The nonlinear stochastic plant is expressed by an Itô-type Takagi-Sugeno fuzzy-affine model with parametric uncertainties, and a Markov process is employed to model the occurrence of actuator fault. The purpose is to design an admissible piecewise SOF controller, such that the resulting closed-loop system is stochastically stable with a prescribed disturbance attenuation level in an sense. Specifically, based on a Markovian Lyapunov function combined with Itô differential formula, S-procedure, and some matrix inequality convexification procedures, two new approaches to the reliable SOF controller analysis and synthesis are proposed for the underlying stochastic fuzzy-affine systems. It is shown that the existence of desired reliable controllers is fully characterized in terms of strict linear matrix inequalities. Finally, simulation examples are presented to illustrate the effectiveness and advantages of the developed methods.
In this paper, we review the definition and basic properties of the different types of fuzzy sets that have appeared up to now in the literature. We also analyze the relationships between them and enumerate some of the applications in which they have been used.