T-S fuzzy tracking control of nonlinear constrained time-delay systems using a reference-management approach

Abstract

A new control design approach is proposed for a class of nonlinear systems expressed by Takagi–Sugeno (T-S) fuzzy model, considering several objectives including robustness against input time-varying delay, input constraint satisfaction, and reference tracking. The proposed controller is designed on the basis of an augmented model, Lyapunov–Krasovskii functional, linear matrix inequality (LMI) tools, and parallel distributed compensation (PDC) approach. Proof of the input-to-state stability (ISS) criterion is provided for the error dynamics. Input constraint satisfaction is performed using a reference-management algorithm based on the linearized closed-loop system from the reference input to the constrained variables. In order to illustrate the effectiveness of the proposed control approach, simulations are performed on three practical examples, including a flexible-joint robot and a continuous stirred tank reactor (CSTR). © 2021 The Franklin Institute