Annual Report 2002 - Örebro universitet

Annual Report 2002 51
Results in 2002:
- Two publications and a test platform for verification and evaluation of the developed
methods and algorithms. The tests will be performed firstly on a 1 DOF manipulator and
then on the 6 DOF lightweight robot arm (Pandi –II) using the available control
prototyping system DS 1103 from dSpace Inc.
Future developments:
- Demonstrations - different control algorithms implemented on test platforms – 1 DOF
arm, and Pandi-II, quasi minimum-time control methods on Pandi – II.
- A PhD thesis is planned to be presented in November-December 2003.
Project title: Model-based fuzzy control
Project leader: Prof. Dimiter Driankov
Project staff: Pontus Bergsten, Bourhane Kadmiry
Funding: KK Foundation and Faculty
Cooperation: WITAS, Univ. of Linköping, Dept. of Computer Science;
ABB Automation Products AB, Dept. AMC;
Siemens Corporate Research and Development, Germany.
Synopsis:
The focus is on analysis and design issues for observers and controllers for Takagi-Sugeno
(TS) fuzzy systems. Many physical systems are nonlinear in nature and using the well-known
linear techniques for such systems may result in bad performance, and even instability. On the
other hand, analysis and design of observers and controllers for general nonlinear systems
tend to be a quite involved procedure. It turns out, however, that a TS fuzzy system is able to
represent or approximate a large class of nonlinear systems. Developing methods for
observation and control for TS systems is thus worthwhile.
Results in 2002:
- Lic-thesis: A lic-thesis by Bourhane Kadmiry (WITAS) on the use of fuzzy controllers,
derived from Takagi-Sugeno systems, for the design and analysis of unmanned
helicopter's flight control system.
Future developments:
- The subject of our future research effort is the use of fuzzy controllers, derived from
Takagi-Sugeno systems, for the purpose of visual-servoing based control for unmanned
aircraft and control of cold steel mills.