Takagi–Sugeno fuzzy payload estimation and adaptive control
Selami Beyhan (Pamukkale University)
Farnaz Eghbal Sarabi (TU Delft - Mechanical Engineering)
Zsofia Lendek (Technical University of Cluj-Napoca)
Robert Babuška (TU Delft - Mechanical Engineering)
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Abstract
In this paper, a novel adaptive Takagi-Sugeno (TS) fuzzy observer-based controller is proposed. The closed-loop stability and the boundedness of all the signals are proven by Lyapunov stability analysis. The proposed controller is applied to a flexible-transmission experimental setup. The performance for constant payload in the presence of noisy measurements is compared to a controller based on a classical extended Luenberger observer. Simulation and real-time results show that the proposed observer-based feedback controller provides accurate position tracking under constant and varying payloads.