Experimental application of Takagi-Sugeno observers and controllers in a nonlinear electromechanical system

Zsofia Lendek, Antonio Sala, Pedro Garcia, Roberto Sanchis

Abstract


In this paper, a systematic methodology to design fuzzy Takagi-Sugeno observers and controllers will be used to estimate the angular positions and speeds, as well as to stabilise an experimental mechanical system with 3 degrees of freedom (fixed quadrotor). Takagi-Sugeno observers and controllers are compared to observers and controllers based on the linearized model, both designed with the same optimization criteria and design parameters.Experimental results confirm that Takagi-Sugeno models and observers behave similarly to linear onesaround the linearization point, but have a better performance over a larger operating range, as intuitively expected.

Keywords


Takagi-Sugeno (T-S) fuzzy model, Observer-based control,Linear matrix inequalities (LMIs), Experimental application

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