An Optimal Fuzzy High-Gain Observer for an Uncertain Nonlinear System. (4th April 2013)

• Record Type: Journal Article
• Authors: Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho
• Is Part Of: International journal of advanced robotic systems. Volume 10:Number 4(2013)
• Publication Date: 2013-04-04
• Subjects: Optimal Performance -- Takagi-Sugeno Fuzzy Model -- H∞ Control -- Adaptive Projection; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.5772/56060
• Languages: English
• ISSNs: 1729-8806

Abstract

This paper proposes an alternative optimal fuzzy high-gain observer design scheme. The structure of the proposed observer is represented by the Takagi-Sugeno fuzzy model and has the integrator of the estimation error. It improves the performance of a high-gain observer and makes the observer robust against noisy measurements, uncertainties and parameter perturbation. The proposed observer adopts theH ∞ control technique and an adaptive projection algorithm. This technique results in a reduction of both the fuzzy approximation error and time-varying disturbances. In addition, the proposed observer accomplishes a fast transient response and parameter convergence. Some simulation results are given to present the validity of the theoretical derivations and the performance of the proposed observer.