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Fuzzy Control with Pole Assignment and Variance Constraints for Continuous-time Perturbed Takagi-Sugeno Fuzzy Models: Application to Ship Steering Systems

  • Intelligent Control and Applications
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Abstract

The stability analysis and controller design of stochastic systems have become much more important because the stochastic behaviors usually exist in practical nonlinear systems. In this paper, a robust fuzzy controller design approach is proposed with multiple constraints, including state variance constraints, output variance constraints, and pole placement constraints. At first, nonlinear systems are expressed as the Takagi-Sugeno fuzzy model, and the parallel distributed compensation method is applied to design the robust fuzzy controllers. Next, considering the stability analysis and the performance constraints of perturbed Takagi-Sugeno fuzzy models, Lyapunov conditions are developed based on covariance control theory, pole placement theory and robust control theory. By constructing the stability conditions with multiple constraints, the proposed fuzzy control problem can be effectively transferred into the linear matrix inequality problem. It can be solved by the convex optimal programming algorithm. At last, a nonlinear ship steering system is selected to verify the effectiveness and applicability of the proposed robust fuzzy controller design method.

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Author information

Authors and Affiliations

  1. Department of Marine Engineering, National Taiwan Ocean University, Keelung, 202, Taiwan, Republic of China

    Wen-Jer Chang, Yan-Horng Lin & Chin-Ming Chang

  2. School of Marine Engineering, Dalian Maritime University, Dalian, 116026, China

    Jialu Du

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  1. Wen-Jer Chang
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Correspondence to Wen-Jer Chang.

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Wen-Jer Chang received his B.S. degree from National Taiwan Ocean University, Taiwan, R.O.C., in 1986. The Marine Engineering is his major course and the Electronic Engineering is his minor one. He received an M.S. degree in the Institute of Computer Science and Electronic Engineering from the National Central University in 1990, and a Ph.D. degree from the Institute of Electrical Engineering of the National Central University in 1995. Since 1995, he has been with National Taiwan Ocean University, Keelung, Taiwan, R.O.C. He is currently the Dean of Academic Affairs, and a full Professor of the Department of Marine Engineering of National Taiwan Ocean University. He is now a life member of the IEEE, CIEE, CACS, CSFAT and SNAME. Since 2003, Dr. Chang was listed in the Marquis Who's Who in Science and Engineering. In 2003, he also won the outstanding young control engineers award granted by the Chinese Automation Control Society (CACS). In 2004, he won the universal award of accomplishment granted by ABI of USA. In 2005 and 2013, he was selected as an excellent teacher of the National Taiwan Ocean University. Dr. Chang has authored more than 120 published journal papers and 120 refereed conference papers. His recent research interests are marine engineering, fuzzy control, robust control, performance constrained control.

Yann-Horng Lin received his B.S. degree from the Department of Marine Engineering of the National Taiwan Ocean University, Taiwan, R.O.C., in 2016. In 2018, he received an M.S. degree in Marine Engineering from National Taiwan Ocean University, Taiwan, R.O.C, He is currently working toward a Ph.D. degree in the Department of Marine Engineering at the National Taiwan Ocean University. His research interests focus on fuzzy control, robust control, performance constrained control and intelligent control applications.

Chin-Ming Chang was born on December 27, 1960 in Taiwan, R.O.C. In 1992, he received his B.S. degree from the Department of Marine Engineering of the National Taiwan Ocean University, Taiwan, R.O.C. In 2001, he received an M.S. degree from National Taipei University of Technology, Taiwan, R.O.C. He is currently working toward a Ph.D. degree in the Department of Marine Engineering at the National Taiwan Ocean University. His research interests focus on fuzzy control, optimal control and ship control system applications.

Jialu Du received her B.E. degree in automatic control, an M.Sc. degree in power drive and automation, and a Ph.D. degree in marine engineering from Dalian Maritime University, Dalian, China, in 1988, 1991, and 2005, respectively. She was a Visiting Scholar with the Department of Engineering Cybernetics, Norwegian University of Science and Technology, Trond-heim, Norway, and with the Cymer Center for Control Systems and Dynamics, University of California at San Diego, San Diego, CA, USA. She is currently a Professor with the School of Marine Electrical Engineering, Dalian Maritime University. Her current research interests include nonlinear control theory, adaptive and robust control, intelligent control, and ship motion control.

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Chang, WJ., Lin, YH., Du, J. et al. Fuzzy Control with Pole Assignment and Variance Constraints for Continuous-time Perturbed Takagi-Sugeno Fuzzy Models: Application to Ship Steering Systems. Int. J. Control Autom. Syst. 17, 2677–2692 (2019). https://doi.org/10.1007/s12555-018-0917-9

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