Uyarlamalı genişletilmiş bulanık fonksiyon durum gözetleyici temelli bilinmeyen yönlü kontrol

Bu çalışmada, uyarlamalı genişletilmiş bulanık fonksyion durum gözetleyici temelli denetleyici, doğrusal olmayan bilinmeyen ve belirsiz sistemlerin kontrolü için önerilmiştir. Nussbaum-Kazanç tekniği kullanarak bilinmeyen kontrol işareti yönündeki tekil durum engellenerek denetleyicinin serbestlik derecesi artırılmıştır. Uyarlamalı genişletilmiş bulanık fonksiyon ile bilinmeyen sistem dinamikleri yaklaşıklanmakta ve ölçülemeyen durumlar gözetlenmektedir. Kapalı çevrim kontrol sistemindeki sinyallerin sınırlılığı Lyapunov kararlılık kriteri ve Nussbaum fonksiyon özellikleri ile gösterilmiştir. Önerilen ve literatürde bilinen bulanık sistem temelli denetleyiciler ters sarkaç sistemine benzetim ortamında, esnek bağlantılı robot koluna ise gerçek zamanlı olarak uygulanmıştır. İzleme hatası için mutlak hata toplamı (IAE), karesel hatanın toplamı (IAE) ve gerekli kontrol işaretinin toplamı (IAU) performansları kullanarak tasarlanan denetleyiciler karşılaştırılmıştır. Çalışmanın amacı sadece izleme performansını artırmak değil, uyarlamalı genişletilmiş bulanık fonksiyon gözetleyici temelli denetleyiciyi gerçek zamanlı sisteme uygulamak ve bilinmeyen kontrol işareti yönünde denetlemeyi sağlamaktır.

Anahtar Kelimeler:

Genişletilmiş bulanık fonksiyon, Uyarlamalı gözetleyici temelli kontrol, Nussbaum-kazanç tekniği, Ters sarkaç, Esnek bağlantılı robot kolu

An adaptive extended fuzzy function state-observer based control with unknown control direction

In this paper, a novel adaptive extended fuzzy function state observer-based controller is proposed to control a class of unknown or uncertain nonlinear systems. The controller uses Nussbaum-gain technique from literature to prevent controller singularity with unknown control direction and the controller degree of freedom is increased. A state observer which employs the adaptive extended fuzzy function system to approximate a nonlinear system dynamics and estimates the unmeasurable state. The stability of closed-loop control system are shown using Lyapunov stability criterion and Nussbaum function property. The proposed and conventional fuzzy system based controllers are designed to control an inverted pendulum in simulation and a flexible-joint manipulator in real-time experiment. The integral of absoulte error (IAE) of tracking, integral of squared error (ISE) of tracking and integral of required absolute control signal (IAU) performances are compared in applications. The aim of the paper is not only to improve the tracking performances, but also to implement the adaptive extended fuzzy function based controller to a real-time system and conduct the tracking with unknown control direction.

Keywords:

Extended fuzzy functions, Adaptive observer-based control, Nussbaum gain technique, Inverted pendulum, Flexible-joint manipulator,

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