Applied Soft Computing, ( ISI ), Volume (72), No (1), Year (2018-11) , Pages (392-418)

Title : ( Indirect adaptive robust mixed H2/H∞general type-2 fuzzy control ofuncertain nonlinear systems )

Authors: Mohammad Reza Akbarzadeh Totonchi , Alireza Akbarzadeh Tootoonchi ,

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Abstract

General type-2 fuzzy logic offers an added ability to manage uncertainties, but it also carries a high computational burden and added mathematical complexity. Further development of this paradigm is henceconsiderably challenged in terms of both time-constrained industrial implementations and mathemati-cal guarantees of performance. In this paper, we propose a stable indirect adaptive robust mixed H2/H∞control approach to an -plane representation of a general type-2 fuzzy framework. The resulting struc-ture is shown to be both computationally efficient and amenable to theoretical analysis. Specifically, thishybrid paradigm is mathematically derived to minimize energy consumption, keep all signals boundedduring the transient states, guide the tracking error to zero, and keep the effect of uncertainties such as theexternal disturbances below a desired level. To validate these theoretical results, two sets of simulationson an inverted pendulum and a robotic manipulator with time-varying payloads and friction disturbancesare performed. To illustrate real-time computational efficacy, the proposed algorithm is then experimen-tally implemented on a 3-PSP parallel robot in our laboratory. Comparative analysis indicates that theproposed method achieves smaller tracking error, less consumed control energy, and better robustnessagainst uncertainties when compared with its type-1 fuzzy, interval type-2 fuzzy counterparts. This iswhile computational time for each control cycle increases only slightly when compared with its intervaltype-2 counterpart.

Keywords

, General type-2 fuzzy systems, Mixed H2/H∞control, Adaptive control, Parallel robotics, Plane
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@article{paperid:1070719,
author = {Akbarzadeh Totonchi, Mohammad Reza and Akbarzadeh Tootoonchi, Alireza},
title = {Indirect adaptive robust mixed H2/H∞general type-2 fuzzy control ofuncertain nonlinear systems},
journal = {Applied Soft Computing},
year = {2018},
volume = {72},
number = {1},
month = {November},
issn = {1568-4946},
pages = {392--418},
numpages = {26},
keywords = {General type-2 fuzzy systems; Mixed H2/H∞control; Adaptive control; Parallel robotics; Plane representation},
}

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%0 Journal Article
%T Indirect adaptive robust mixed H2/H∞general type-2 fuzzy control ofuncertain nonlinear systems
%A Akbarzadeh Totonchi, Mohammad Reza
%A Akbarzadeh Tootoonchi, Alireza
%J Applied Soft Computing
%@ 1568-4946
%D 2018

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