In this paper, the model predictive control is designed for an interval type-2 Takagi-Sugeno (T-S) system with unknown time-varying delay in state and input vectors. The time-varying delay is a weird phenomenon that is appeared in almost all systems. It can make many problems and instability while the system is working. In this paper, the time-varying delay is considered in both states and input vectors and is the sensible difference between the proposed method here and previous algorithms, besides, it is unknown but bounded. To solve the problem, the Razumikhin approach is applied to the proposed method since it includes a Lyapunov function with the original nonaugmented state space of system models compared to Krasovskii formula. On the other hand, the Razumikhin method act better and avoids the inherent complexity of the Krasovskii specifically when large delays and disturbances are appeared. To stabilize output results, the model predictive control (MPC) is designed for the system and the considered system in this paper is interval type-2 (IT2) fuzzy T-S that has better estimation of the dynamic model of the system. Here, online optimization problems are solved by the linear matrix inequalities (LMIs) which reduce the burdens of the computation and online computational costs compared to the offline and non-LMI approach. At the end, an example is illustrated for the proposed approach.
This paper investigates the fuzzy $H_{\infty}$ filter design issue for nonlinear systems with time-varying delay. In order to obtain less conservative fuzzy $H_{\infty}$ filter design method, a novel integral inequality is employed to replace the conventional Lebniz-Newton formula to analyze the stability conditions of the filtering error system. Besides, the information of the membership functions is introduced in the criterion to further relax the derived results. The proposed delay dependent filter design method is presented as LMI-based conditions, and corresponding definite expressions of…
This paper is concerned with the fuzzy $H_{\infty}$ filter design issue for nonlinear systems with time-varying delay. To overcome the shortcomings of the conventional methods with matched preconditions, the fuzzy $H_{\infty}$ filter to be designed and the T-S fuzzy model are assumed to have different premise membership functions and number of rules, thus, greater design flexibility and robustness to uncertainty can be achieved. However, such design will also make the derived results conservative, to relax the result, a novel integral inequality which is tighter than the traditional inequaliti…
Huazhong University of Science and Technology（华中科技大学）；University of Southern California（南加利福尼亚大学）；Tianjin Normal University（天津师范大学）
Interval type-2 (IT2) fuzzy systems have become increasingly popular in the last 20 years. They have demonstrated superior performance in many applications. However, the operation of an IT2 fuzzy system is more complex than that of its type-1 counterpart. There are many questions to be answered in designing an IT2 fuzzy system: Should singleton or non-singleton fuzzifier be used? How many membership functions (MFs) should be used for each input? Should Gaussian or piecewise linear MFs be used? Should Mamdani or Takagi-Sugeno-Kang (TSK) inference be used? Should minimum or product $t$-norm be u…
Abstract-In this manuscript, model predictive control for class of discrete fuzzy large-scale systems subjected to bounded time-varying delay and disturbances is studied. The considered method is Razumikhin for time-varying delay large-scale systems, in which it includes a Lyapunov function associated with the original non-augmented state space of system dynamics in comparison with the Krasovskii method. As a rule, the Razumikhin method has a perfect potential to avoid the inherent complexity of the Krasovskii method especially in the presence of large delays and disturbances. The considered l…
Fractional Order Fuzzy Control of Nuclear Reactor Power with Thermal-Hydraulic Effects in the Presence of Random Network Induced Delay and Sensor Noise having Long Range Dependence
Jadavpur University（贾达普大学）；University of Southampton（南安普顿大学）；Indian Institute of Technology Delhi（德里印度理工学院）；Bhabha Atomic Research Centre（巴哈原子研究中心）
This paper presents a method based on precise modeling of traffic flow using a fuzzy-real algorithm for optimal control of a signalized intersection. By improving social indicators such as security, well-fare and economy, intercity transportation has increased and traffic congestion developed. Today, the plight of traffic congestion is the cause of waste of time, capital, and health risks. Although the construction of new streets, expressways, and highways can improve this situation, when inadequate space and limited budget is available, it is not practical. Optimization of signalized intersec…
A robust auto-landing problem of a Truss-braced Wing (TBW) regional jet aircraft with poor stability characteristics is presented in this study employing a Fuzzy Reinforcement Learning scheme. Reinforcement Learning (RL) has seen a recent surge in practical uses in control systems. In contrast to many studies implementing Deep Learning in RL algorithms to generate continuous actions, the methodology of this study is straightforward and avoids complex neural network architectures by applying Fuzzy rules. An innovative, agile civil aircraft is selected not only to meet future aviation community …
Hussaini Adamu Polytechnic（侯赛因·阿达姆理工学院）；Bayero University, Kano（卡诺贝罗大学）；Ahmadu Bello University（阿赫马杜·贝洛大学）
Robot manipulators are extensively used in industrial applications because of their immense importance such as in constructions automation. Therefore, designing controllers to suit the intensive purpose of the application is one of the major challenges for control researchers. This paper presents comparative analysis of three controllers on a 3-DOF robot manipulator. The proportional integral derivative (PID), proportional derivative (PD) and fuzzy logic (FL) controllers were designed and applied to each of the link of the robot by simulation. The performance of each control method was assesse…
This paper investigates state feedback control laws for Markov jump linear systems with state and mode-observation delays. An assumption in this study is that the delay of mode observation obeys an exponential distribution. Also, we raise an unknown time-varying state delay applied in the composition of the state feedback controller. A method of remodeling the closed-loop system as a standard Markov jump linear system with state delay is shown. Furthermore, on the basis of this remodeling, several Linear Matrix Inequalities (LMI) for designing feedback gains for stabilization and mixed $H_2/H_…
This paper studies stochastic aperiodic stabilization of a networked control system (NCS) consisting of a continuous-time plant and a discrete-time controller. The plant and the controller are assumed to be connected by communication channels with i.i.d. time-varying delays. The delays are theoretically not required to be bounded even when the plant is unstable in the deterministic sense. In our NCS, the sampling interval is supposed to be determined directly by such communication delays. A necessary and sufficient inequality condition is presented for designing a state-feedback controller sta…
An eigenvalue based framework is developed for the stability analysis and stabilization of coupled systems with time-delays, which are naturally described by delay differential algebraic equations. The spectral properties of these equations are analyzed and their stability properties are studied, taking into account the effect of small delay perturbations. Subsequently, numerical methods for stability assessment and for designing stabilizing controllers with a prescribed structure or order, based on a direct optimization approach, are briefly addressed. The effectiveness of the approach is ill…
This work considers designing an unmanned target hunting system for a swarm of unmanned underwater vehicles (UUVs) to hunt a target with high maneuverability. Differential game theory is used to analyze combat policies of UUVs and the target within finite time. The challenge lies in UUVs must conduct their control policies in consideration of not only the consistency of the hunting team but also escaping behaviors of the target. To obtain stable feedback control policies satisfying Nash equilibrium, we construct the Hamiltonian function with Leibniz's formula. For further taken underwater dist…
We consider the problem of designing control protocols for nonlinear network systems affected by heterogeneous, time-varying delays and disturbances. For these networks, the goal is to reject polynomial disturbances affecting the agents and to guarantee the fulfilment of some desired network behaviour. To satisfy these requirements, we propose an integral control design implemented via a multiplex architecture. We give sufficient conditions for the desired disturbance rejection and stability properties by leveraging tools from contraction theory. We illustrate the effectiveness of the results …
K. N. Toosi University of Technology（K. N. 图西理工大学）
Assurance of asymptotic trajectory tracking in robotic manipulators with a smooth control law in the presence of unmodeled dynamics or external disturbance is a challenging problem. Recently, it is asserted that it is achieved via a rigorous proof by designing a traditional model-free controller together with time delay estimation (TDE) such that neither dynamical parameters nor conservative assumptions on external disturbance are required. The purpose of this note is to show that this claim is not true and the stability proof of the method is incorrect. Finally, some modified versions of this…
This paper studies the stabilization and safety problems of nonlinear time-delay systems. Following both Razumikhin and Krasovskii approaches, we propose novel control Lyapunov functions/functionals for the stabilization problem and novel control barrier functions/functionals for the safety problem. The proposed control Lyapunov and barrier functions/functionals extend the existing ones from the delay-free case to the time-delay case, and allow for designing the stabilizing and safety controllers in closed-form. Since analytical solutions to time-delay optimal control problems are hard to be a…
This paper investigates the robust stability and stabilization analysis of interval fractional-order systems with time-varying delay. The stability problem of such systems is solved first, and then using the proposed results a stabilization theorem is also included, where sufficient conditions are obtained for designing a stabilizing controller with a predetermined order, which can be chosen to be as low as possible. Utilizing efficient lemmas, the stability and stabilization theorems are proposed in the form of LMIs, which is more suitable to check due to various existing efficient convex opt…
This paper studies the problem of designing sampled-data observers and observer-based, sampled-data, output feedback stabilizers for systems with both discrete and distributed, state and output time-delays. The obtained results can be applied to time delay systems of strict-feedback structure, transport Partial Differential Equations (PDEs) with nonlocal terms, and feedback interconnections of Ordinary Differential Equations with a transport PDE. The proposed design approach consists in exploiting an existing observer, which features robust exponential convergence of the error when continuous-…
Active Queue Management (AQM) for mitigating Internet congestion has been addressed via various feedback control syntheses, especially P, PI, and PID regulators, by using a linear approximation where the ``round trip time'', i.e., the delay, is assumed to be constant. This constraint is lifted here by using a nonlinear modeling with a variable delay, introduced more than 20 years ago. This delay, intimately linked to the congestion phenomenon, may be viewed as a ``flat output.'' All other system variables, especially the control variable, i.e., the packet loss ratio, are expressed as a functio…
