Takagi-Sugeno Observer for Tower Crane System
Lobna Tarek Aboserre, Horst Schulte, Ayman El-Badawy
Kapitel/Beitrag aus dem Buch: Schulte, H et al. 2020. Proceedings – 30. Workshop Computational Intelligence : Berlin, 26. – 27. November 2020.
Part of
Kapitel/Beitrag aus dem Buch: Schulte, H et al. 2020. Proceedings – 30. Workshop Computational Intelligence : Berlin, 26. – 27. November 2020.
In this paper, a new representation of the nonlinear dynamics of the tower crane system in Takagi-Sugeno (TS) fuzzy form is proposed and used for observer design. The TS fuzzy nonlinear observer is utilized to estimate unmeasurable states with guaranteed global asymptotic stability. The stability analysis is formulated as linear matrix inequalities (LMIs). The TS fuzzy model is equivalent to a reduced-order nonlinear model of the tower crane system with a varyingvcable length. For verification, simulation results of the reduced-order model, TS nonlinear fuzzy model and the estimated observer states are compared to the results of a tower crane on a laboratory scale.
Aboserre, L et al. 2020. Takagi-Sugeno Observer for Tower Crane System. In: Schulte, H et al (eds.), Proceedings – 30. Workshop Computational Intelligence : Berlin, 26. – 27. November 2020. Karlsruhe: KIT Scientific Publishing. DOI: https://doi.org/10.58895/ksp/1000124139-11
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Veröffentlicht am 20. November 2020