Takagi-Sugeno fuzzy incremental state model for optimal control of a ball and beam nonlinear model

Al-Hadithi, Basil M. and Adánez García-Villaraco, José Miguel and Jiménez Avello, Agustín (2019). Takagi-Sugeno fuzzy incremental state model for optimal control of a ball and beam nonlinear model. In: "14th International Conference on Soft Computing Models in Industrial and Environmental Applications (SOCO 2019)", 13/05/2019-15/05/2019, Sevilla, España. ISBN 978-3-030-20054-1. pp. 533-543. https://doi.org/10.1007/978-3-030-20055-8_51.

Description

Title: Takagi-Sugeno fuzzy incremental state model for optimal control of a ball and beam nonlinear model
Author/s:
  • Al-Hadithi, Basil M.
  • Adánez García-Villaraco, José Miguel
  • Jiménez Avello, Agustín
Item Type: Presentation at Congress or Conference (Article)
Event Title: 14th International Conference on Soft Computing Models in Industrial and Environmental Applications (SOCO 2019)
Event Dates: 13/05/2019-15/05/2019
Event Location: Sevilla, España
Title of Book: Advances in intelligent systems and computing
Date: May 2019
ISBN: 978-3-030-20054-1
Volume: 950
Subjects:
Freetext Keywords: Ball and beam; Takagi-Sugeno; Incremental state model; Optimal control
Faculty: E.T.S.I. Diseño Industrial (UPM)
Department: Ingeniería Eléctrica, Electrónica Automática y Física Aplicada
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

The optimal control of a ball and beam by an approach based on Takagi-Sugeno incremental state model is proposed. The advantages of incremental state model in comparison with the non incremental one are that the control action cancels steady state errors, the affine terms disappear and incremental state solves the problem of computing the target state, choosing zero as an objective. A generalized version of Takagi-Sugeno identification method is applied. For an optimal control, Linear Quadratic Regulator and optimal state observer are used in each fuzzy rule. Simulation results over the ball and beam nonlinear model show a stable closed loop in the full range, zero steady state error and good transient response.

Funding Projects

TypeCodeAcronymLeaderTitle
Government of SpainDPI2017-86915-C3-3-RCOGDRIVEUnspecifiedTécnicas de inteligencia artificial y ayuda a la navegación autónoma = Cognition inspired navigation for autonomous driving

More information

Item ID: 55515
DC Identifier: http://oa.upm.es/55515/
OAI Identifier: oai:oa.upm.es:55515
DOI: 10.1007/978-3-030-20055-8_51
Official URL: https://link.springer.com/chapter/10.1007%2F978-3-030-20055-8_51
Deposited by: Memoria Investigacion
Deposited on: 20 Jun 2019 08:35
Last Modified: 31 Dec 2019 23:30
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