Experimental application of Takagi-Sugeno observers and controllers in a nonlinear electromechanical system
نویسندگان
چکیده
In this paper, a systematic methodology to design fuzzy Takagi-Sugeno observers and controllers will be used to estimate the angular positions and speeds, as well as to stabilise an experimental mechanical system with 3 degrees of freedom (fixed quadrotor). Takagi-Sugeno observers and controllers are compared to observers and controllers based on the linearized model, both designed with the same optimization criteria and design parameters. Experimental results confirm that TakagiSugeno models and observers behave similarly to linear ones around the linearization point, but have a better performance over a larger operating range, as intuitively expected.
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