Robust H_2 / H_∞ Multi Objective Controller Design with Takagi-Sugeno Fuzzy Model for a Mobile Two-Wheeled Inverted Pendulum

International Journal of Smart Electrical Engineering

مقالات آماده انتشار، پذیرفته شده، انتشار آنلاین از تاریخ 16 آذر 1400  

نوع مقاله: Research Paper

نویسندگان

Davood Allahverdy¹؛ Ahmad Fakharian ²

¹Science and Research Branch, Islamic Azad University, Tehran, IRAN

²Faculty of Electrical, Biomedical and Mechatronics Engineering, Qazvin Branch, Islamic Azad University

چکیده

In this study, a robust H_2/H_∞ multi-objective state-feedback controller and tracking design are presented for a mobile two-wheeled inverted pendulum (MTWIP). The proposed control has to track the desired angular velocity while keeping the mobile two-wheeled inverted pendulum balanced. First, error of output states are added to the dynamic of system for better tracking control. And uncertainties of parameters are defined by affine parameters. Next, Takagi-Sugeno (T-S) fuzzy model is used for estimating the uncertainty of nonlinear model parameters. Robust H_2/H_∞ controller is designed and analyzed for each local linear subsystem of mobile two-wheeled inverted pendulum by using a linear matrix inequalities method. To sum up, in order to calculate the whole dynamic of system from each local linear subsystem, weight average defuzzifer method is used and the total controller is designed and analyzed according to parallel distribute compensation. The simulation indicate that the proposed scheme has high accuracy, robustness, good tracking, fast transient responses and lower control effort for a mobile two-wheeled inverted pendulum despite the uncertainties and external disturbance.

کلیدواژه‌ها

Robust H_2/H_∞ Multi Objective Controller؛ linear Matrix Inequalities؛ Takagi-Sugeno Fuzzy Model؛ Mobile Two-Wheeled Inverted Pendulum