Although, robust controllers that have been designed for hydraulic actuators based on quantitative feedback theory (QFT) have shown satisfactory performance, their stability is limited to certain set of inputs-outputs. This paper explores, for the first time, the stability of a QFT controller using stability theorem of Takagi-Sugeno (T-S) fuzzy systems. To do this, first the hydraulic closed-loop system is represented by a T-S fuzzy model that is formed through a nonlinear combination of some local linear models. Next, the stability of the resulting T-S fuzzy system is analyzed simply by stability analysis of its local linear models. This approach is used to study the stability of a QFT position controller previously developed for hydraulic actuators. Results show guaranteed stability of the QFT controller over a wide range of operation and in the presence of parametric uncertainties.
- Fluid Power Systems and Technology Division
Stability Analysis of QFT Controllers Designed for Hydraulic Actuators Using Takagi-Sugeno Fuzzy Modeling Approach
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Esfandiari, M, & Sepehri, N. "Stability Analysis of QFT Controllers Designed for Hydraulic Actuators Using Takagi-Sugeno Fuzzy Modeling Approach." Proceedings of the ASME/BATH 2013 Symposium on Fluid Power and Motion Control. ASME/BATH 2013 Symposium on Fluid Power and Motion Control. Sarasota, Florida, USA. October 6–9, 2013. V001T01A031. ASME. https://doi.org/10.1115/FPMC2013-4451
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