Uyarlamalı genişletilmiş bulanık fonksiyon durum gözetleyici temelli bilinmeyen yönlü kontrol

Yıl 2017, Cilt: 23 Sayı: 5, 519 - 526, 20.10.2017

Selami Beyhan

Öz

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

Öz

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.

Anahtar Kelimeler

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

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