Constrained Output-Feedback Control for Discrete-Time Fuzzy Systems With Local Nonlinear Models Subject to State and Input Constraints

Tran Anh-Tu Nguyen (1) , Pedro Coutinho (2) , Thierry-Marie Guerra (1) , Reinaldo Martinez Palhares (2) , Jun-Tao Pan (3)

1 LAMIH - Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201
2 UFMG - Universidade Federal de Minas Gerais = Federal University of Minas Gerais [Belo Horizonte, Brazil]
3 North Minzu University

This article presents a new approach to design static output-feedback (SOF) controllers for constrained Takagi-Sugeno fuzzy systems with nonlinear consequents. The proposed SOF fuzzy control framework is established via the absolute stability theory with appropriate sector-bounded properties of the local state and input nonlinearities. Moreover, both state and input constraints are explicitly taken into account in the control design using set-invariance arguments. Especially, we include the local sector-bounded nonlinearities of the fuzzy systems in the construction of both the nonlinear controller and the nonquadratic Lyapunov function. Within the considered local control context, the new class of nonquadratic Lyapunov functions provides an effective solution to estimate the closed-loop domain of attraction, which can be nonconvex and even disconnected. The convexification procedure is performed using specific congruence transformations in accordance with the special structures of the proposed SOF controllers and nonquadratic Lyapunov functions. Consequently, the fuzzy SOF control design can be reformulated as an optimization problem under strict linear matrix inequality constraints with a linear search parameter. Compared to existing fuzzy SOF control schemes, the new structures of the control law and the Lyapunov function are more general and offer additional degrees of freedom for the control design. Both theoretical arguments and numerical illustrations are provided to demonstrate the effectiveness of the proposed approach in reducing the design conservatism.

Mots clés: "Lyapunov methods"; "Control design"; "Symmetric matrices"; "Fuzzy control"; "Nonlinear systems"; "Stability analysis"

Domaines: Automatique / Robotique

Tran Anh-Tu Nguyen, Pedro Coutinho, Thierry-Marie Guerra, Reinaldo Martinez Palhares, Jun-Tao Pan. Constrained Output-Feedback Control for Discrete-Time Fuzzy Systems With Local Nonlinear Models Subject to State and Input Constraints. IEEE Transactions on Cybernetics, 2020, 51 (9), pp.4673-4684. ⟨10.1109/TCYB.2020.3009128⟩. ⟨hal-03424920⟩