Laboratoire d'Automatique de Skikda (LAS), Faculté de Technologie, Département de Génie Électrique, Université 20 Août 1955, BP 26, Route El-Hadaeik, Skikda 21000, Algeria.
Laboratoire PRISME, HEI Campus Centre, 2 Allée Jean Vaillé, 36000 Châteauroux, France.
Sensors (Basel). 2019 Nov 26;19(23):5177. doi: 10.3390/s19235177.
This paper proposes a novel Takagi-Sugeno fuzzy predictor observer to tackle the problem of the constant and known delay in the measurements. The proposed observer is developed for a trajectory-tracking problem of a wheeled mobile robot where a parallel-distributed compensation control is used to control the robot. The L2-stability of the proposed observer is also proven in the paper. Both, the control and the observer gains are obtained by solving the proposed system of linear matrix inequalities. To illustrate the efficiency of the proposed approach, an experimental comparison with another predictor observer was done.
本文提出了一种新的 Takagi-Sugeno 模糊预测观测器来解决测量中恒定和已知延迟的问题。所提出的观测器是为轮式移动机器人的轨迹跟踪问题开发的，其中使用了并行分布式补偿控制来控制机器人。本文还证明了所提出观测器的 L2 稳定性。控制和观测器增益都是通过求解所提出的线性矩阵不等式系统获得的。为了说明所提出方法的有效性，与另一种预测观测器进行了实验比较。
