Fuzzy disturbance observer approach to robust tracking control of nonlinear sampled systems with the guaranteed suboptimal H performance

Euntai Kim, Changwoo Park

Research output: Contribution to journalLetter

22 Citations (Scopus)

Abstract

This paper presents a new approach to robust tracking control of the nonlinear sampled systems using a discrete-time fuzzy disturbance observer (DFDO). Novel update and control laws are proposed to guarantee that all the signals in the closed-loop control system are uniformly ultimately bounded (UUB) in a compact set. No persistence of excitation (PE) condition, nor the assumption on the slowness of the change of the fuzzy parameters, is required. In addition, a robustifying controller is designed to improve the tracking performance. Finally, a computer simulation example is presented to illustrate the effectiveness and the applicability of the suggested method.

Original languageEnglish
Pages (from-to)1574-1581
Number of pages8
JournalIEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Volume34
Issue number3
DOIs
Publication statusPublished - 2004 Jun 1

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Closed loop control systems
Controllers
Computer simulation

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Artificial Intelligence
  • Human-Computer Interaction

Cite this

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AB - This paper presents a new approach to robust tracking control of the nonlinear sampled systems using a discrete-time fuzzy disturbance observer (DFDO). Novel update and control laws are proposed to guarantee that all the signals in the closed-loop control system are uniformly ultimately bounded (UUB) in a compact set. No persistence of excitation (PE) condition, nor the assumption on the slowness of the change of the fuzzy parameters, is required. In addition, a robustifying controller is designed to improve the tracking performance. Finally, a computer simulation example is presented to illustrate the effectiveness and the applicability of the suggested method.

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