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ITS » Research Report » S1 Teknik Elektro
Posted by dwi at 18/01/2008 17:09:24  •  8819 Views


DISAIN OBSERVER FUZZY BERBASIS MODEL FUZZY TAKAGI-SUGENO UNTUK INVERTED PENDULUM

Author :
Trihastuti Agustinah 




ABSTRAK

Suatu analisis dan disain observer fuzzy yang berbasis model fuzzy Takagi-Sugeno dilakukan dalam penelitian ini. Sistem kontrol fuzzy yang menggunakan pendekatan kontrol feedback linier mensyaratkan bahwa state feedback harus terdapat ada. Untuk menjamin adanya state feedback diperlukan observer fuzzy yang berguna untuk mengestimasi nilai state tersebut. Analisis stabilitas kontroler dan observer diturunkan dari perolehan state stabil dan fungsi Lyapunov definit positif. Untuk minimisasi kompleksitas penggunaan aturan dalam basis aturan fuzzy Takagi-Sugeno dibatasi dua-aturan. Analisis ini diaplikasikon pada masalah penyeimbangan batang pendulum terbalik pada sebuah kereta.


ABSTRACT

An analysis and design of fuzzy observer based on Takagi-Sugeno fuzzy models presented in this research. Linear feedback control technique is used in fuzzy control systems require all state variables are available for feedback. An observer is needed to keep and to estimate the state variables. The stability analysis of the controller and observer is derived from finding of stable state and positive definite Lyapunov functions. To minimize the design complexity the using of rules in fuzzy Takagi-Sugeno rule base is limited as few rule as possible two rules. This analysis is illustrated by application to the problem of balancing an inverted pendulum on a cart.



KeywordsFuzzy Takagi-Sugeno ; pendulum
 
Subject:  Kontrol, teori
Date Create: 18/01/2008
Type: Text
Format: pdf ; 71 pages
Language: Indonesian
Identifier: ITS-Research-3100005066005
Collection ID: 3100005066005
Call Number: ITS 629.830 151 131 3 Agu d


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