Dynamic output-feedback control for nonlinear continuous-time systems based on parametric uncertain subsystem and T-S fuzzy model

摘要

This paper addresses the T-S fuzzy robust dynamic output-feedback control problem for a class of nonlinear continuous-time systems with parametric uncertainties and premise variables. First, based on the control input matrix and output matrix, the parametric uncertainties are assumed to be a subsystem, which is described as a linear fractional. Secondly, the nonlinear continuous-time systems are described by the Takagi-Sugeno (T-S) fuzzy model. Then the new dynamic output feedback controller is designed based on the T-S fuzzy model and the linear fractional (parametric uncertainties), and the sufficient conditions for robust stabilization are given in the form of linear matrix inequalities (LMIs). Compared with previous work, the developed methods not only have abilities to handle the fuzzy system with premise variables but also can deal with the parametric uncertainties effectively. The results are further extended to a mobile robot case and a chemical process case. Finally, numerical examples are performed to show the effectiveness of the theoretical results.