Design of Takagi-Sugeno Fuzzy Control Scheme for Real World System Control

• Main Authors: Chih-Hui Chiu, Ya-Fu Peng
• Format: Article
• Language: English
• Published: MDPI AG 2019-07-01
• Series: Sustainability
• Subjects: ball robot; TS fuzzy control scheme; parallel distributed compensation; linear matrix inequality
• Online Access: https://www.mdpi.com/2071-1050/11/14/3855

In this study, a novelty dual Takagi-Sugeno (TS) fuzzy control scheme (DTSFCS) is proposed for real world system control. We propose using a ball robot (BR) system control problem, where the BR has the ability to move omnidirectionally. The proposed control scheme combines two fuzzy control approaches for a BR. In this fuzzy control approach, the TS fuzzy model was adopted for the fuzzy modeling of the BR. The concept of parallel distributed compensation (PDC) was utilized to develop a fuzzy control scheme from the TS fuzzy models. The linear matrix inequalities (LMIs) can formulate sufficient conditions. Moreover, in this study, the motors of the BR were mounted on two orthogonal axes. Then, the dual TS fuzzy controller was designed to independently operate without coupling. Finally, the efficiency of the proposed control scheme is illustrated by the experimental and simulation results that are presented in this study.