Abstract
This paper proposes a novel Takagi-Sugeno fuzzy predictor observer to tackle the problem of the constant and known delay in the measurements. The proposed observer is developed for a trajectory-tracking problem of a wheeled mobile robot where a parallel-distributed compensation control is used to control the robot. The L2-stability of the proposed observer is also proven in the paper. Both, the control and the observer gains are obtained by solving the proposed system of linear matrix inequalities. To illustrate the efficiency of the proposed approach, an experimental comparison with another predictor observer was done.
Highlights
In several applications of control systems, processing or transmitting information is necessary to make decisions
In [13], a predictive observer is proposed to solve the problem of landmark measurements obtained with time-delay and it is applied in the case of wheeled mobile robots (WMR)
In order to illustrate the efficiency of the proposed TS fuzzy predictor observer, an experimental illustrate the efficiency of the proposed TS fuzzy predictor observer, an experimental
Summary
In several applications of control systems, processing or transmitting information is necessary to make decisions. This is usually caused by a sensor processing delays or momentary sensor outage Another example is measuring the position of an object or a group of objects with a camera sensor where extensive image processing involving several phases is necessary in order to produce the final result. Such a vision-based sensor introduces a significant delay that usually cannot be ignored in the control law design. Other alternatives are to use a predictor observer that compares the delayed measurements with the estimated delayed measurements, in order to compensate for the delay. In [15], an observer–predictor methodology to compensate for the delay in the measurements for three classes
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