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Nonlinear Internal Model Control: Application of Inverse Model Based Fuzzy Control

机译:非线性内部模型控制:基于逆模型的模糊控制的应用

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This paper investigates the possible applications of dynamical fuzzy systems to control nonlinear plants with asymptotically stable zero dynamics using a fuzzy nonlinear internal model control strategy. The developed strategy consists in including a dynamical Takagi-Sugeno fuzzy model of the plant within the control structure. In this way, the controller design simply results in a fuzzy model inversion. In this framework, the originality of the presented work lies in the use of a dynamical fuzzy model and its inversion. In order to be able to implement the control structure, two crucial points have to be addressed in the considered fuzzy context, on the one hand the model representation and identification, on the other, the model inversion. As the fuzzy system can be viewed as a collection of elementary subsystems, its inversion is approached here in a local way, i.e., on the elementary subsystems capable to provide an inverse solution. In this case, the inversion of the global fuzzy system is thus tackled by inversion of some of its components. By doing so, exact inversion is obtained and offset-free performances are ensured. In order to guarantee a desired regulation behavior and robustness of stability of the control system, the fuzzy controller is connected in series with a robustness filter. The potential of the proposed method is demonstrated with simulation examples.
机译:本文研究了动态模糊系统使用模糊非线性内模控制策略控制渐近稳定零动力学非线性植物的可能应用。所开发的策略包括在控制结构内包括工厂的动态Takagi-Sugeno模糊模型。以此方式,控制器设计仅导致模糊模型反转。在这种框架下,所提出工作的原创性在于使用动态模糊模型及其反演。为了能够实现控制结构,必须在考虑的模糊上下文中解决两个关键问题,一方面是模型表示和识别,另一方面是模型反演。由于模糊系统可以看作是基本子系统的集合,因此此处的反转是通过局部方式进行的,即在能够提供逆解的基本子系统上进行。因此,在这种情况下,全局模糊系统的求逆通过其某些分量的求逆来解决。通过这样做,获得了精确的反演,并确保了无偏移性能。为了保证期望的调节行为和控制系统的稳定性的鲁棒性,模糊控制器与鲁棒性滤波器串联连接。仿真实例证明了该方法的潜力。

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