摘要
非线性和时滞是工程领域中普遍存在的现象,也是控制理论研究的热点和难点之一。Takagi-Sugeno(T-S)模糊模型将专家经验与传统的控制理论相结合,己逐渐成为研究复杂非线性系统的重要方法,受到了众多学者注意。因此,对T-S模糊时滞系统的研究,不仅具有重要的理论意义,也具有非常重要的实际意义。
本文基于Lyapunov函数方法,并结合线性矩阵不等式(LMI)技术,对不确定T-S模糊时滞系统和不确定随机T-S模糊时滞系统的稳定性、H_∞控制、H_∞滤波、L_2-L_∞滤波等问题进行了研究,其主要工作和研究成果体现如下:
1.研究了不确定连续(和离散)T-S模糊时滞系统稳定性问题,并在此基础上研究了不确定连续(和离散)T-S模糊时滞系统的H_∞控制问题。
本文在前人研究的基础上,构造了一个新的Basis-dependent Lyapunov- Krasovskii函数,在此基础上以LMI的形式给出了一个保证不确定T-S模糊时滞系统渐进稳定同时具有H_∞性能的时滞依赖状态反馈控制器的设计方法,该控制器的设计方法与现有文献相比,具有较低的保守性。同时,我们将此Basis-dependent Lyapunov-Krasovskii函数方法应用到离散不确定T-S模糊时滞系统,并得到了相应的离散系统的时滞依赖鲁棒H_∞控制器的设计方法。
2.研究了不确定连续T-S模糊时滞系统的H_∞滤波和L_2-L_∞滤波问题。
在研究了不确定连续T-S模糊时滞系统的时滞依赖H_∞控制的基础上,给出了一个保证滤波误差系统在参数不确定条件下具有事先指定的鲁棒H_∞干扰抑制水平γ的LMI条件和一个相应的L_2-L_∞抑制条件。并以LMI的形式给出了一个具有较低保守性的不确定T-S模糊时滞系统的时滞依赖鲁棒H_∞滤波器的设计方法和L_2-L_∞滤波器的设计方法。
3.研究了不确定随机T-S模糊时滞系统的鲁棒H_∞控制问题。
首先,基于一个新的Basis-dependent Lyapunov-Krasovskii函数,我们以LMI的形式给出了保证不确定随机T-S模糊系统均方渐进稳定,且具有均方意义上的H_∞性能的充分条件,然后基于此充分条件,以LMI的形式给出了一个具有较低保守性的不确定随机T-S模糊时滞系统的时滞依赖鲁棒H_∞控制器的设计方法。
4.研究了不确定随机T-S模糊时滞系统的H_∞滤波和L_2-L_∞滤波问题。在研究了不确定随机T-S模糊时滞系统均方H_∞控制的基础上,我们首先以LMI的形式给出了保证滤波误差系统具有均方意义上的H_∞性能的一个充分条件,然后在此基础上我们给出了一个不确定随机T-S模糊时滞系统的鲁棒H_∞滤波器的设计方法,其鲁棒L_2-L_∞滤波器设计方法也以相似的推导方法给出。
5.最后,我们应用本文所提出的T-S模糊时滞系统的控制方法,研究了具有能量有界干扰下的卡车拖车倒车问题。
本文首先为卡车拖车系统建立了具有能量有界干扰和状态时滞的不确定T-S模糊时滞系统模型,然后以LMI的形式给出了保证倒车系统渐进稳定,同时具有H_∞性能的时滞依赖鲁棒状态反馈控制器。仿真结果验证了所提方案的可行性。
Nonlinearity and time delay can be found in various engineering systems, which are hotspots and difficulties in area of control. Takagi-Sugeno (T-S) model combining the traditional control theories with expert knowledge has become the important method of dealing with complex nonlinear systems and received more and more attention. So, it is of great theoretical and practical significance that research on the T-S fuzzy time-delay systems.
Based on Lyapunov functional method, by using linear matrix inequality (LMI), this dissertation studies the problems of delay-dependent H_∞control, H_∞filtering, L_2-L_∞filtering for uncertain T-S fuzzy time-varying delay system and uncertain stochastic T-S fuzzy time-varying delay system. The main work and contribution of this dissertation are listed as follows.
1. The delay-dependent robust stability problem of uncertain continue (discrete) T-S fuzzy time-varying delay system is studied, based on this study, we researched the H_∞problem for the uncertain continue (discrete) T-S fuzzy time-varying delay systems.
Based on the former research, we propose a new Basis-dependent Lyapunov-Krasovskii functional. Then, we present a delay-dependent state feed- back robust H_∞controller in term of LMIs, this controller guarantees the continue uncertain T-S fuzzy time-varying delay system not only asymptotically stable but also a prescribed H_∞attenuation level. Compared with the current literatures, this controller is much less conservative. At the same time, we extend this Lyapunov-Krasovskii functional method to discrete uncertain T-S fuzzy time-varying delay system, and also obtain a design scheme of delay-dependent robust H_∞controller with less conservatism in term of LMIs
2. Delay-dependent robust H_∞filtering and L_2-L_∞filtering problems of uncertain continue T-S fuzzy time-varying delay systems are studied.
Based on the results of H_∞control for uncertain continue T-S fuzzy time- varying delay system, we propose a delay-dependent criterion in term of LMIs, which guarantees a prescribed H_∞attenuation levelγfor the filtering error system. Then, a delay-dependent robust H_∞filter with less conservatism is proposed in LMIs. The corresponding robust L_2-L_∞filter is given by using the same method.
3. Delay-dependent robust H_∞control problem of uncertain stochastic continue T-S fuzzy time-varying delay system is studied.
First, based on the new Basis-dependent Lyapunov-Krasovskii functional, we propose a sufficient criterion in term of LMIs such that the closed-loop uncertain stochastic continue T-S fuzzy time-varying delay system is asymptotically stable in mean square and a prescribed H_∞performance in mean square is achieved. Then based on this sufficient condition, the robust H_∞controller with less conservatism is presented in term of LMIs.
4. Delay-dependent robust H_∞filtering and L_2-L_∞filtering problems of uncertain stochastic continue T-S fuzzy time-varying delay systems are studied.
Based on the results of H_∞control for uncertain stochastic continue T-S fuzzy time-varying delay system, we propose a delay-dependent criterion in term of LMIs, which guarantees a prescribed H_∞attenuation levelγin mean square for the filtering error system. Then, a delay-dependent robust H_∞filter is proposed in LMIs. The corresponding robust L_2-L_∞filter is given by using the same method.
5. Finally, applying the results of uncertain continue T-S fuzzy time-varying delay system proposed in this dissertation, we study the backing-up control of truck-trailer with bounded energy disturbance.
We model a uncertain continue T-S fuzzy time-varying delay model for the truck-trailer system with energy-bounded disturbance and state delay, then, we propose a robust H_∞controller in term of LMIs, which guarantees the truck-trailer system a prescribed H_∞performance. Simulation demonstrates the effectiveness of the fuzzy controller design scheme we proposed.
引文
1李士勇.模糊控制·神经控制和智能控制论.哈尔滨工业大学出版社, 2002:23
2 L. A. Zadeh. Outline of a New Approach to The Analysis of Complex Systems and Decision Processes, IEEE Transaction on Systems, Man, and Cybernetics.1973, 3(1):28~44
3 E. H. Mamdni. Application of Fuzzy Algorithms for Control of Simple Dynamic Plant, IEE Proceedings Control and Science. 1974, 121(12): 1585~1588
4 T. Takagi, M. Sugeno. Fuzzy Identification of Systems and Its Applications to Modeling and Control. IEEE Transactions on Systems, Man and Cybernetics.1985, 15(1):116~132
5 K. Tanaka, and H. O. Wang. Fuzzy Control Systems Design and Analysis: a Linear Matrix Inequality Approach. a Wiley-Interscience Publication, New York, 2001
6 Z. Andrewa. Fuzzy Controllers in Nuclear Material Accounting. Fuzzy Sets and Systems. 1995,74(1):73~79
7 G. Y. Parka and P. H. Seonga. Application of a Self-Organizing Fuzzy Logic Controller to Nuclear Steam Generator Level Control, Nuclear Engineering and Design.1997,167(3):345~356
8 M. G. Na and B. R. Upadhyaya. A Neuro-Fuzzy Controller for Axial Power Distribution An Nuclear Reactors, IEEE Transactions on Nuclear Science. 1998, 45(1):59~67
9李明,徐向东.循环流化床锅炉控制系统.清华大学学报(自然科学版).2002, 42(5):665~668
10袁铸钢,王孝红等.水泥立窑偏火的模糊控制.控制理论与应用.1999, 16(2):230~234
11李强,梁莉.基于模糊控制的直流无刷伺服控制系统.控制理论与应用.2003, 20(4): 547~550
12丁科,侯朝桢,梁文林.神经网络模糊控制在交流调速系统中的应用研究.控制与决策.2001, 16(4): 500~503
13徐琳,陆文娟,朱纪洪.六主动轮移动机器人的建模及路径跟踪.清华大学学报(自然科学版).2003,43(3):385~388
14 H.X.Li. A Comparative Design and Tuning for Conventional Fuzzy Control, IEEE Transactions on Systems, Man, and Cybernetics-Part B.1997, 27(5):884~889
15 Z.W. Woo, H. Y. Chung, J.J. Lin. A PID Type Fuzzy Controller with Self-Tuning Scaling Factors, Fuzzy Sets and Systems.2000, 115:321~326
16 H. Ying, W. Siler, and J. J. Buckley. Fuzzy Control Theory: a Nonlinear Case. Automatica. 1990,26(3):513~520
17 H.Ying. The Simplest Fuzzy Controllers Using Different Inference Methods Are Different Nonlinear Proportional-Integral Controllers with Variable Gains. Automatica. 1993,29(6):1579~1589
18窦振中.模糊逻辑控制技术及其应用.北京航空航天大学出版社.1995
19 H.Ying. Sufficient Conditions on General Fuzzy Systems as Function Approximations. Automatica. 1994,30:521~525
20王立新.自适应模糊系统与控制—设计与稳定性分析.国防工业出版社.1995
21 L.Li, X Liu. New approach on robust stability for uncertain T-S fuzzy systems with state and input delays, Chaos,Solitons & Fractals.doi:10. 1016 /j.chaos.2007.10.026
22 B.Chen, X.Liu, et al. New Delay-dependent Stabilization Conditions of T-S Fuzzy Systems with Constant Delay. Fuzzy Sets and Systems.2007,158(20): 2209~2224
23 J. C. Lo, Y. T. Lin. State Feedback via Circle Criterion for Systems Subject to Input Saturations.Proc.2004 IEEE Int.Conf. Networking,Sensing and Control, Taiwan:920~925
24 K.Tanaka and M.Sugeno. Stability Analysis of Fuzzy System Using Lyapunov’s Direct Method. Proc. of NAFIPS, 1990, 133~136.
25 K. Tanaka and M. Sugeno. Stability Analysis and Design of Fuzzy Control Systems, Fuzzy Sets Syst. 1992,45(2):135~156
26 H.O.Wang, K.Tanaka and M.Griffin. Parallel Distributed Compensation of Nonlinear Systems by Takagi and Sugeno’s Fuzzy Model. Proceedings of 4th IEEE International Conference on Fuzzy Systems, Yokohama, 1995,Japan: 531~538
27 H.O.Wang, K.Tanaka and M.Griffin. An Analytical Framework of Fuzzy Modeling and Control of Nonlinear System: Stability and Design Issue. ACC.1995,2722～2726
28 P. Gahinet and A.Nemirovskii. LMI Lab: a Package for Manipulating and Solving LMI’s, Version 2.0, 1993
29 H.O.Wang, K.Tanaka and M.Griffin. An Approach to Fuzzy Control of Nonlinear System:Stability and Design Issue.IEEE Trans. Fuzzy Systems. 1996,4(1):14~23
30 J.Zhao,V. Wertz,R.Gorez. Linear TS Fuzzy Model Based Robust Stabilizing Controller Design.Proceedings of The 34th IEEE Conference on Decision and Control,Univ. Catholique De Louvain,1995,New Orieans:255~260
31 S.G.Cao, N.W. Ress, G. Feng. Stability Analysis and Design for a Class of Continuous Time Fuzzy Control System. Int. J. Control.1996,(64):1069~ 1087
32 S.G.Cao, N.W. Ress,G. Feng.Analysis and Design for a Class of Complex Control Systms, Part II: Fuzzy Controller Design. Automatica. 1997, (33):1029~1039
33 S.G.Cao, N.W. Ress, and G. Feng.Analysis and Design of Fuzzy Control Systems Using Dynamic Fuzzy-State Space Models. IEEE Trans. Fuzzy Syst. 1999,(7):192~200
34 M. Johansson, K.E. Arzen. A. Rantzer.Piecewise Quadratic Stability of Fuzzy Systems. IEEE Trans. Fuzzy Syst. 1999,(7):713~722
35 D.Choi, P.Park. H∞State-Feedback Controller Design for Discrete-Time Fuzzy Systems Using Fuzzy Weighting-Dependent Lyapunov Functions. IEEE Trans. Fuzzy Syst. 2003,(11):271~278
36陈志盛,孙克辉,李勇刚,张泰山.基于模糊Lyapunov函数的离散模糊时滞系统H∞控制.控制与决策.2006,21(5):546-549,558
37 K. Tanaka, T. Hori, H. O. Wang.A Fuzzy Lyapunov Approach to Fuzzy Control System Design. in Proc.Amer.Control Conf., 2001:4790~ 4795
38 J.Yoneyama.New delay-dependent approach to robust stability and stabilization for Takagi-Sugeno fuzzy time-delay systems.Fuzzy Sets and Systems. 2007,158(20):2225~2237
39 B.Chen, X.P.Li, S.C.Tong. Delay-Dependent Stability Analysis and Control Synthesis of Fuzzy Dynamic Systems with Time Delay.Fuzzy Sets and Systems.2006,(157):2224~2240
40 Y.B.Luo,Y.Y.Cao,E.Al. Robust Stability of Uncertain Takagi-Sugeno Fuzzy Systems with Time-Varying Input-Delay. Acta Automatica Sinica. 2008, 34(1):87~92
41 G.S.Zhang, X.M.Chen. Delay-Dependent Fuzzy Robust Stability for Uncertain Nonlinear Systems with Time-Delay. Proceedings of The 6th World Congress on Intelligent Control and Automation,Dalian,2006,China: 4002~ 4006
42 X.W.Liu, H.B.Zhang,F.L. Zhang. Delay-Dependent Stability of Uncertain Fuzzy Large-Scale Systems with Time Delays. Chaos, Solitons and Fractals. 2005,(26):147~158
43 Z.Zuo and Y. Wang. Robust stability and stabilisation for nonlinear uncertain time-delay systems via fuzzy control approach. Control Theory & Applications, 2007,1(1): 422~429
44 H. K.Lam and F. H. F. Leung.Stability Analysis of Discrete-Time Fuzzy- Model-Based Control Systems with Time Delay:Time Delay-Independent Approach.Fuzzy Sets and Systems. 2008,159(8):990-1000
45 Y.Moon, P.Park. W. Kwon, Y.Lee. Delay-Dependent Robust Stabilization of Uncertain State-Delayed Systems. Int. J.Control.2001, 74(14):1447~1455
46 J. S. Glower, J. Munighan. Designing Fuzzy Controllers From a Variable Structure Standpoint. IEEE Trans. on Fuzzy Systems.1997,5(1):138~144
47 R Palm. Robust Control by Fuzzy Sliding Mode. Automatica.1994,30 (9):1429~1437
48 S. W. Kim, J. J. Lee. Design of a Fuzzy Controller with Fuzzy Sliding Surface. Fuzzy Sets and Systems.1995,71 (3):359~367
49 Y. O. Htani, T.Yoshimura. Fuzzy Control of a Manipulator Using the Concept of Sliding Mode. Int. J. Systems Science.1996,27(2):179~186
50 S. Y. Wang, C. M. Hong, W. T. Yang. Design of a Static Reactive Power Compensator Using Fuzzy Sliding Mode Control. Int. J. Control.1996, 63 (2): 393~413
51 S. Y. Yi, M. J. Chung. A Robust Fuzzy Logic Controller for RobotManipulators with Uncertainties. IEEE Trans. on Systems Man and Cybernetic.1997, 27(4):706~713
52 R. Palm, D Driankov. Stability of Fuzzy Gain Schedulers: Sliding- Mode Based Analysis. Proceedings of The Sixth IEEE International Conference On Fuzzy Systems, Barcelona,1997, Spain:177~183
53 G. M. Aly, M. A. Tayeb. Fuzzy Logic-Based Variable Structure Controllers. J Micro Computer Applications.1995,18(2):115~125
54 A.Suyitno, J.Fujikawa and H.K.obayashieta. Variable-Structured Robust Controller by Fuzzy Logic for Servomotors. IEEE Trans. on Industrial Electronics.1993, 40(1): 80~88
55 S. Y. Yi, M. J. Chung. Systematic Design and Stability Analysis of a Fuzzy Logic Controller. Fuzzy Sets and Systems.1995,72(3): 271~298
56 T. P. Zhang, C. B. Feng. Fuzzy Variable Structure Control via Output Feedback. Int. J Systems Science.1997, 28(3):309~319
57 H. X. Li, H. B. Gatland, A. W. Green. Fuzzy Variable Structure Control. IEEE Trans. on Systems Man and Cybernetics.1997,27(2):306~312
58 Y. S. Ding, H. Ying, S. H. Shao. Structure and Stability Analysis of a Takagi-Sugeno Fuzzy PI Controller with Application to Tissue Hyperthermia Therapy. Soft Computing.1999, 2(4):183~190
59 C.H.Lien. Stabilization for uncertain Takagi-Sugeno fuzzy systems with Time-varying Delays and Bounded Uncertainties.Chaos, Solitons & Fractals.2007,32(2):645-652
60 K. Tanaka, T. Ikeda, H. O. Wang.Robust Stabilization of a Class of Uncertain Nonlinear Systems via Fuzzy Control: Quadratic Stabilizability, H∞Control Theory, and Linear Matrix Inequalities.IEEE Trans.Fuzzy Syst. 1996,(4):1~13
61 D.D.Yang, H.G.Zhang. Robust H∞Networked Control for Uncertain Fuzzy Systems with Time-Delay.Acta Automatica Sinica.2007,33(7): 726~730
62 S.Y. Xu and J. Lam. Robust H∞Control for Uncertain Discrete-Time-Delay Fuzzy Systemsvia Output Feedback Controllers. IEEE Trans. on Fuzzy Systems. 2005,13(1):82~93
63 K. R. Lee, E. T. Jeung, H. B. Park.Robust Fuzzy H∞Control for Uncertain Nonlinear Systems via State Feedback: An LMI Approach.Fuzzy Sets and Systems.2001 (120):123~134
64 X.W. Liu.Delay-Dependent H∞Control for Uncertain Fuzzy Systems with Time-Varying Delays.Nonlinear Analysis.2008,68(5):1352~1361
65 B.S.Chen,C.S.Tseng and H.J. Uang.Mixed H2/H∞Fuzzy Output Feedback Control Design for Nonlinear Dynamic Systems: An LMI Approach.IEEE Tramactions on Fuzzy Systems.2000,8(3):249~265
66 C.Lin, Q.G.Wang, T.H.Lee, Y. He, B. Chen. Observer-Based H∞Fuzzy Control Design for T-S Fuzzy Systems with State Delays. Automatica. 2008,44(3):868~874
67 S.S.Zhou,T.Li.Robust Stabilization for Delayed Discrete-Time Fuzzy Systems via Basis-Dependent Lyapunov-Krasovskii Function.Fuzzy Sets and Systems.2005,151(1):139~153
68 Y.Y.Cao, P.M.Frank.Robust H∞Disturbance Attenuation for a Class of Uncertain Discrete-Time Fuzzy Systems.IEEE Tramactions on Fuzzy Systems. 2000,8(4):406~415
69 J.H. Ren.Delay-Dependent Fuzzy Hinf Filtering for a Class of Nonlinear Systems with Time Delays,IEEE International Conference on Control and Automation,Guangzhou,2007,China:1388~1393
70 G. Feng, T. H.Lee, N. Zhang.Stable Filter Design of Fuzzy Dynamic Systems. IEEE International Conference on Fuzzy Systems. 1998,(1):475~ 480
71 S. K.Nguang, W. Assawinchaichote. H∞Filtering for Fuzzy Dynamical Systems with D Stability Constraints. IEEE Transactions on Circuits and Systems I: Fundamental Theory and Applications.2003, 50(11):1503~1508
72 W.Assawinchaichote, S.K.Nguang. H∞Filtering for Fuzzy Singularly Perturbed Systems with Pole Placement Constraints: An LMI Approach. IEEE Transactions on Signal Processing.2004,52(6):1659~1667
73 B. S.Chen, C. L.Tsai,D. S.Chen. Robust Hinf and Mixed H 2/ H∞Filters for Equalization Designs of Nonlinear Communication Systems: Fuzzy Interpolation Approach. IEEE Transactions on Fuzzy Systems.2003,11(3): 384~398
74伦淑贤,张化光.一类非线性时滞离散系统模糊H∞滤波器的设计.电子学报.2005,33(2):231~235
75 S. X.Lun, H. G.Zhang, D. R.Liu. Fuzzy Hyperbolic H∞Filter Design for a Class of Nonlinear Continuous-Time Dynamic Systems. 43rd IEEE Conference on Decision and Control (CDC).2004: 225~230
76 S.Y.Xu,J.Lam. Exponential H∞Filter Design for Uncertain Takagi-Sugeno Fuzzy Systems with Time Delay. Engineering Applications of Artificial Intelligence.2004,17(6):645~659
77 Y.Nesterov,A.Nemirovsky. Interior-Point Polynomial Methods in Convex Programming. Studies in Applied Mathematics (SIAM.),Philadelphia,1994
78 K.Tanaka,T.Ikeda, H.O.Wang.Robust Stabilization of a Class of Uncertain Nonlinear Ayatems via Fuzzy Control: Quadratic Stability, H∞Control Theory and Linear Matrix Inequalities.IEEE Trans. Fuzzy Syst. 1996,(4):1~13
79 X.J.Ma, Z.Q.Sun,Y.Y. He.Analysis and Design of Fuzzy Controller and Fuzzy Observer. IEEE Trans. Fuzzy Syst.1998,6:41~51
80 J.Joh,Y.Hchen,R.Langari.On The Stability Issues of Linear Takagi- Sugeno Fuzzy Models. IEEE Trans.Fuzzy Syst.1998,(6):402~410
81 K.W.Yu and C.H.Lien.Robust H∞control for uncertain T-S fuzzy systems with state and input delays.Chaos,Solitons & Fractals 2008,37(1):150-156
82 M.Chen and G. Feng.H∞Robust Filter Design of Fuzzy Dynamic Systems.Proceeding of The 2005 IEEE International Conference on Information Acquisition, Hong Kong and Macau, 2005,China:181~186
83 G.Feng.Robust H∞Filtering of Fuzzy Dynamic Systems.IEEE Transactions on Aerospace and Electronic Systems. 2005,41(2):658~670
84 Y.C.Lin, J.C. Lo. H∞Filtering for Fast-Varying-Delay Takagi-Sugeno Fuzzy Systems.2005 IEEE International Conference on Systems,Man and Cybernetics, Hawaii,2005,USA:582~587
85 Y.C.Lin and J.C.Lo.Robust Mixed H 2 /H∞Filtering for Time-Delay Fuzzy Systems, IEEE Transactions on Signal Processing.2006,54(8):2897~ 2909
86 S.X.Lun, H.G.Zhang, D.R.Liu. Fuzzy H∞Filtering of Discrete- Time Nonlinear Systems with Multiple Time Delays. Proceeding of The 2005 IEEE International Symposium on Intelligent Control, Limassol,2005, Cyprus:1023~1028
87 S.Y.Xu, J.Lam,Y.Zou.New Results on Delay-Dependent Robust H∞Control for Systems with Time-Varying Delays.Automatica.2006,42(2): 343~348
88 W.Assawinchaichote, S.K.Nguang, E.Al. H∞Output Feedback Control Design for Uncertain Fuzzy Singularly Perturbed Systems:an LMI Approach. Automatica.2004,40(12):2147~2152
89 C.H.Lien,K.W.Yu,Y.F.Lin,Y.J.Chung,L.Y.Chung. Robust Reliable H∞Control for Uncertain Nonlinear Systems via LMI Approach.Applied Mathematics and Computation. 2008,(198):453~462
90 Z.L.Xia,J.M. Li, J.R.Li.Delay-Dependent Generalized H2 Resilient Control for Discrete-Time Fuzzy Systems with Both State and Input Delays. Proceedings of The IEEE International Conference on Automation and Logistics, Jinan, 2007,China:2105~2110
91 W.J. Chang and W.Chang.H∞Fuzzy Control for Discrete Affine Takagi-Sugeno Fuzzy Models with Time Delay Effect. Proceedings of The IEEE International Conference on Mechatronics & Automation,Niagara Falls,2005,Canada:1503~1508
92 W. Assawinchaichote and S.K.Nguang. H∞Filtering for Nonlinear Singularly Perturbed Systems with Pole Placement Constraints: An LMI Approach, IEEE Trans. Signal Process. 2004, (52):1659~1667
93 K.Y. Lian, C. S. Chiu,E. Al. LMI-Based Fuzzy Chaotic Synchronization and Communications.IEEE Transactions on Fuzzy Systems.2001,9(4):539-553
94吴忠强.非线性系统的最优模糊保代价控制及在永磁同步电动机混沌系统中的应用.中国电机工程学报.2003,23(9):152~157
95 C Kambhampati,S.Rajasekharan.Decentralised Fuzzy Control of Multi- Robot Systems Using Lmis.Proceedings of IEEE Conferece on Decision and Control.2001,(4):3968~3969
96 A. Tsourdos, J.T.Economou, B.A.White, P.C.K.Luk. Fuzzy Gain-Scheduling for Autonomous Mobile Robot via Lmis Approach. Proceedings of IEEE International Symposium on Intelligent Control, Houston,2003,Texas:733~ 737
97班晓军.模糊控制器的函数特性及模糊控制系统地频域稳定性分析.哈尔滨工业大学博士学位论文.2006
98 F.Cuesta,F.Gordillo,J.Aracil,A.Ollero.Stability Analysis of NonlinearMultivariable Takagi-Sugeno Fuzzy Control Systems.IEEE Transactions on Fuzzy Systems.1999,7(5):508~520
99 F.Cuesta, A.Ollero. Fuzzy Control of Reactive Navigation with Stability Analysis Based on Conicity and Lyapunov Theory.Control Engineering Practice.2004,12(5):625~638
100 H.Kang.C.Kwon,H.Lee,M.Park. Robust Stability Analysis and Design Method for The Fuzzy Feedback Linearization Regulator.IEEE Transactions on Fuzzy Systems.1998,6(4):464~472.
101 Z. Yi and P. A. Heng.Stability of Fuzzy Control Systems with Bounded Uncertain Delays. IEEE Trans. Fuzzy Syst. 2002,(10):92~97
102 K. R. Lee, J. H. Kim, E. T. Jeung, H. B. Park.Output Feedback Robust Control of Uncertain Fuzzy Dynamic Systems with Time-Varying Delay.IEEE Transactions on Fuzzy Systems.2000,8(6):657~ 664
103 B. Chen and X. P. Liu.Reliable Control Design of Fuzzy Dynamic Systems with Time-Varying.Fuzzy Sets and Systems.2004(146):349~374
104 W.J. Chang, W. Chang. Fuzzy Control of Continuous Time-Delay Affine T–S Fuzzy Systems, In: Proceedings of The 2004 IEEE Internat. Conf. on Networking, Sensing and Control Taipei, Taiwan, 2004, Pp. 618~623
105 M. Li, H.G. Zhang. Fuzzy H∞Robust Control for Nonlinear Time-Delay System via Fuzzy Performance Evaluator.IEEE Internat. Conf. on Fuzzy Systems,Shengyang,China,2003:555~560
106 R.J.Wang,W.W. Lin,W.J.Wang. Stabilizability of Linear Quadratic State Feedback for Uncertain Fuzzy Time-Delay Systems. IEEE Trans. Systems Man Cybernet(Part B). 2004,(34):1288–1292
107 Y.R.Gu,H.O.Wang,K.Tanaka,andL.G.Bushnell.Fuzzy Control of Nonlinear Time-Delay Systems: Stability and Design Issues. in Proc.AACC, 2001: 4771~4776
108 S.S.Chen, Y.C.Chang, S.F.Su, S.L.Chung, T.T.Lee. Robust Static Output- Feedback Stabilization for Nonlinear Discrete-Time Systems with Time Delay via Fuzzy Control Approach, IEEE Trans. Fuzzy Systems.2005, 13(2):263~272
109 B. Chen, X. Liu. Fuzzy Guaranteed Cost Control for Nonlinear Systems with Time-Varying Delay.IEEE Trans. Fuzzy Systems.2005,13(2):238~249
110 H. Shin, C. Choi, E. Kim, M. Park. Fuzzy Partial State Feedback Control of Discrete Nonlinear Systems with Unknown Time-Delay, Fuzzy Optimization and Decision Making.2004,(3):83~92
111 C.S. Tseng. Model Reference Output Feedback Fuzzy Tracking Control Design for Nonlinear Discrete-Time Systems with Time-Delay.IEEE Trans.Fuzzy Systems.2006,14(1):58~70
112 R.J.Wang,W.W.Lin,W.J.Wang.Stability of Linear Quadratic State Feedback for Uncertain Fuzzy Time-Delay System, IEEE Trans. Systems Man Cybernet (Part B). 2004,34(2):1288~1292
113 H.G.Zhang,Q.X.Gong,Y.C.Wang.Delay-Dependent Robust H∞Control for Uncertain Fuzzy Hyperbolic Systems with Multiple Delays. Progress in Natural Science.2008,18(1):97~104
114 J.Yoneyama.Design of H∞Control for Fuzzy Time-Delay Systems, Fuzzy Sets and Systems. 2005,(151):167~190
115 G. Feng.Robust H∞Filtering of Fuzzy Dynamic Systems. IEEE Trans.Aerosp. Electron. Syst. 2005,(41):658~670
116 Y.Y. Cao, P.M. Frank.Analysis and Synthesis of Nonlinear Time-Delay Systems via Fuzzy Control Approach. IEEE Trans. Fuzzy Systems.2000,8 (2):200~211
117 Y.Y. Cao, P.M. Frank.Stability Analysis and Synthesis of Nonlinear Time-Delay Systems via Linear Takagi-Sugeno Fuzzy Models.Fuzzy Sets andsystems.2001,2(4):213~229
118 S.K. Nguang, W. Assawinchaichote, P. Shi and Y. Shi. H∞Fuzzy Filter Design for Uncertain Nonlinear Systems with Markovian Jumps: An LMI Approach. in American Control Conference, Portland,2005,1799~1804
119 Z.Shi,G.F. Ma,Y.Q.Lin.Fuzzy Guaranteed Cost Control for a Class of Time-Delay Systems with Uncertain Parameters.International Conference on Learning and Cybernetics.2003,(2):741~745
120陈彩莲,关新平等.不确定时滞系统的模糊保成本控制.控制与决策.2002,17(2):178~182
121 C.G.Li, H.J.Wang,X.F.Liao.Delay-Dependent Robust Stability of Uncertain Fuzzy Systems with Time-Varying Delays. IEE Proc.-Control Theory Appl. 2004,151(4):417~421
122 B. Chen, X. Liu.Delay-Dependent Robust H∞Control for T-S Fuzzy Systems with Time Delay.IEEE Transactions on Fuzzy Systems.2005,13 (4):544~556
123 X.P.Guan,C.L.Chen.Delay-Dependent Guaranteed Cost Control for T-S Fuzzy Systems with Time Delays. IEEE Transactions on Fuzzy Systems. 2004,12(2):236~249
124 E.Tian, C.Peng. Delay-Dependent Stability Analysis and Synthesis of Uncertain T-S Fuzzy Systems with Time-Varying Delay.Fuzzy Sets and Systems. 2006,157(4):544~559
125 M.Wu,E.Al.Delay-Dependent Criteria for Robust Stability of Time-varying Delay Systems.Automatica. 2004,40(8):1435~1439
126 H.N. Wu, and H.X. Li.New Approach to Delay-Dependent Stability Analysis and Stabilization for Continuous-Time Fuzzy Systems with Time-Varying Delay. IEEE Transactions on Fuzzy Systems.2007, 15(3):482~493
127 C. L. Chen, G. Feng, X.P. Guan. Delay-Dependent Stability Analysis and Controller Synthesis for Discrete-Time T-S Fuzzy Systems with Time Delays, IEEE Trans. Fuzzy Systems.2005,13(5):630~643
128 C.Lin, Q.G. Wang and T. H.Lee. Delay-Dependent LMI Conditions for Stability and Stabilization of T-S Fuzzy Systems with Bounded Time-Delay. Fuzzy Sets and Systems.2006,157(9):1229~1247
129 H.N.Wu.Delay-Dependent Stability Analysis and Stabilization for Discrete- Time Fuzzy Systems with State Delay: a Fuzzy Lyapunov-Krasovskii Functional Approach, IEEE Trans. Systems Man Cybernet(Part B).2006,36 (4):954~962
130 H.N.Wu. Delay-Dependent H∞Fuzzy Observer-Based Control for Discrete-Time Nonlinear Systems with State Delay. Fuzzy Sets and Systems,doi:10.1016/j.fss.2007.12.029
131 P.Park and J.W.Ko.Stability and Robust Stability for Systems with a Time-varying Delay. Automatica.2007,43(10):1855~1858
132 K.Gu, S.I.Niculescu. Further Remarks on Additional Dynamics in Various Model Transformations of Linear Dealy Systems.IEEE Transactions on Automatic Control.2001,46(3):497~500
133俞立.鲁棒控制—线性矩阵不等式处理方法.清华大学出版社.2002
134 P.Park, J.W.Ko.Stability and Robust Stability for Systems with a Time-varying Delay.Automatica.2007,(43):1855~1858
135 M.Wu, Y.He, J.H.She. New Delay-Dependent Stability Criteria and Stabilizing Method for Neutral Systems.IEEE Transactions on Automatic Control.2004, 49(12):2266~2271
136 L.S.Xian,H.G.Zhang.Fuzzy H∞Filter Design for a Class of Nonlinear Systems with Time Delays via LMI. Acta Automatica Sinica.2005,31(3): 394~401
137 J.Yoneyama.Robust H∞filtering of fuzzy systems with time varying discrete and ditributed delays. ISIC. IEEE International Conference on Systems, Man and Cybernetics, Aoyama Gakuin Univ.,2007,Sagamihara: 165~170
138 M. Chen, G. Feng and H.B.Ma. A Delay-Dependent Approach to H∞Filtering for Fuzzy Time-Varying Delayed Systems.IEEE International Fuzzy Systems Conference,City Univ. of Hong Kong,2007,Kowloon:1~6
139 Y.C. Lin and J.C.Lo. H∞Filter/Controller Design for Discrete-time Takagi-Sugeno Fuzzy Systems with Time Delays.The 5th Asian Control Conference, Nat. Central Univ.,2004,Taiwan:1516~1522
140 C.Lin,Q.G.Wang,T.H.Lee, B.Chen. H∞Filter Design for Nonlinear Systems with Time-Delay through T-S Fuzzy Model Approach. IEEE Transactions on Fuzzy Systems.2008,16(3):739~746
141李会莹,李明,李桂芳,杨成梧.连续时滞模糊系统H∞滤波.系统工程与电子技术.2008,30(2):331~336
142 J.Yoneyama.Robust Stability and Stabilization for Uncertain Takagi- Sugeno Fuzzy Time-delay Systems. Fuzzy Sets and Systems. 2007,158(2): 115~134
143 S.Zhou, J.Lam, A.K.Xue. H∞Filtering of Discrete-time Fuzzy Systems via Basis-dependent Lyapunov Function Approach. Fuzzy Sets and Systems. 2007,158(2):180~193
144 H.G.Zhang,S.X.Lun,D.R.Liu.Fuzzy H∞Filter Design for a Class of Nonlinear Discrete-Time Systems with Multiple Time Delays.IEEE Transactions on Fuzzy Systems.2007,15(3):453~469
145 C.S.Tseng.Robust Fuzzy Filter Design for a Class of Nonlinear Stochastic Systems.IEEE Transactions on Fuzzy Systems. 2007,15(2):261~274
146 G. Feng,M.Chen,D.Sun,E.Al. Approaches to Robust Filtering Design of Discrete Time Fuzzy Dynamic Systems.IEEE Transactions on Fuzzy Systems, 2008,16(2):331~340
147 Z.D.Wang, D.W.C. Ho, and X.H.Liu. A Note on The Robust Stability of Uncertain Stochastic Fuzzy Systems with Time-Delays.IEEE Transactions on Systems,Man and Cybernetics, Part A.2004,34(4):570~576
148 L.J.Hu,W.G.Zhao,S.H.Shao.Robust Stochastic Stabilization H∞Control.The
14th IEEE International Conference on Fuzzy Systems, 2005:254~259
149 H.G. Zhang, Y.C.Wang,D.R.Liu.Delay-Dependent Guaranteed Cost Control for Uncertain Stochastic Fuzzy Systems with Multiple Time Delays.IEEE Transactions on Systems, Man, and Cybernetics-Part B: Cybernetics. 2008, 38(1):126~140
150 Z.M.Ye, Y.M.Ye,H.P.Mohamadian. Design of Fuzzy Stochastic Nearly Optimal Control. 2006 IEEE International Conference on on Fuzzy Systems. Vancouver,2006,Canada:1799~1803
151 B.Y. Zhang, S.Y.Xu, G.D. Zong, Y. Zou. Delay-Dependent Stabilization for Stochastic Fuzzy Systems with Time Delays. Fuzzy Sets and Systems.2007,158(20):2238~2250
152余正元,胡良剑.随机T-S模糊系统均方镇定的参数化LMI方法.东华大学学报(自然科学版). 2007,33(06):717~721
153 H. Huang and D. W. C. Ho.Delay-Dependent Robust Control of Uncertain Stochastic Fuzzy Systems with Time-Varying Delay. Control Theory & Applications, IET.2007,1(4):1075~1085
154 L.Arnold.Stochastic Differential Equations: Theory and Applications.Wiley, New York, 1972
155 X. Mao.Stochastic Differential Equations and Their Applications. Horwood Publishing Series in Mathematics & Applications. Horwood, Chichester, 1997
156 C.S.Tseng.Robust Fuzzy Filter Design for a Class of Nonlinear Stochastic Systems.IEEE Transactions on Fuzzy Systems.2007,15(2): 261~ 274
157 Z. Chen and Y. Li. Energy-to-Peak Filtering for Fuzzy Stochastic Neutral Systems with Time-Delays: LMI Approach. Proceedings of The 26th Chinese Control Conference, Hunan, 2007:253~256
158 Z.Wang and D.W.C. Ho.Filtering on Nonlinear Time-Delay Stochastic Systems.Automatica. 2003,39(1):101~109
159 S.Xu and T. Chen.Robust H∞Filtering for Uncertain Impulsive Stochastic Systems Under Sampled Measurements. Automatica.2003,39(3): 509~516
160 H.J.Gao,J.Lam, C.Wang.Robust Energy-to-Peak Filter Design for Stochastic Time-Delay Systems. Systems & Control Letters. 2006,55(2):101~111
161 Z.Wang,J.Lam, X. Liu.Filtering for a Class of Nonlinear Discrete-Time Stochastic Systems with State Delays. Journal of Computational and Applied Mathematics.2007,201(1):153~163
162 J.Xia,S.Xu,B.Song.Delay-Dependent L2-L∞Filter Design for Stochastic Time-Delay Systems. Systems & Control Letters.2007,56:579~587
163 Y.Liu,Z.Wang,X.Liu.Robust H∞Filtering for Discrete Nonlinear Stochastic Systems with Time-Varying Delay. Journal of Mathematical Analysis and Applications.2008,341(1):318~336
164 M.Sampei,E.Al.Arbitrary Tracking Control of Articulated Vehicles Using Nonlinear Control Theory.IEEE Tran.Control Syst.Technol.1995,(3):125~ 131
165 B.Widrow and D.Nguyen.Neural Networks for Self-Learning Control Systems. IEEE Control Systems.1990,(3):18~23
166 P.L.Ramon and D.J. Corelis. Expert System Controller for Backing-Up a Truck-Trailer System in a Constrained Space.Proceedings of The 37th Midwest Symposium on Circuits and Systems,1994,(2):1357~1361
167 K.Tanaka and M.Sano.A Robust Stabilization Problem of Fuzzy Controller Systems and Its Applications to Backing Up Control of a Truck-Trailer. IEEE Trans.Fuzzy Syst.1994,2(2):119~134
168 S. Kong and B. Kosko.Comparison of Fuzzy and Neural Truck Backer-Upper Control Systems. Proc.International Joint Conference of Neural Networks.1990,(3):349~358
169 H.Ichihashi and M. Tokunaga. Neuro-Fuzzy Optimal Control of Backing Up a Trailer Truck.IEEE International Conference Onneural Networks,USA, 1993,(1):306~311
170 G.R.Chen and D.L.Zhang.Backing Up a Truck-Trailer with Suboptimal Distance Trajectories.Proceedings of The Fifth IEEE InternationalConference on Fuzzy Systems,1996,(2):1439~1445
171 D.J.Higham.An Algorithmic Introduction to Numerical Simulation of Stochastic Differential Equations. SIAM REVIEW. 2001,43(3):525~546
172 K.Tanaka, T. Kosaki, H.O.Wang. Backing Control Problem of a Mobile Robot with Multiple Trailers: Fuzzy Modeling and LMI-Based Design.IEEE Transactions on Systems, Man, and Cybernetics, Part C: Applications and Reviews.1998,28(3):329~337
173 K.Tanaka,T. Taniguchi, and H.O. Wang. Trajectory Control of An Articulated Vehicle with Triple Trailers.Proceedings of The 1999 IEEE International Conference on Control Applications.Hawaii,1999,(2):1673~ 1678
174 W.J. Chang, C.C.Shing.LMI-Based Fuzzy Controller Design with Minimum Upper Bound Input Energy and State Variance Constraints for Discrete Fuzzy Stochastic Systems.Journal of Intelligent & Fuzzy Systems: Applications in Engineering and Technology. 2004,15(2):115 ~124
175 W.J. Chang, C.C.Shing and C. Wei. Constrained Discrete Fuzzy Control for a Perturbed Trailer Type Mobile Robot Stochastic System. Proceedings of 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2003,(1):175~180