Adaptive multilayer T-S fuzzy controller for nonlinear siso system optimized by differential evolution algorithm
In this paper, the authors propose a novel adaptive multilayer T-S fuzzy controller (AMTFC) with a
optimize soft computing algorithm for a class of robust control uncertain nonlinear SISO systems.
First, a new multilayer T-S fuzzy was created by combined multiple simple T-S fuzzy model with a
sum function in the output. The multi-layer fuzzy model used in nonlinear identification has many
advantages over conventional fuzzy models, but it cannot be created by the writer's experience or
the trial and error method. It can only be created using an optimization algorithm. Then the parameters of multilayer fuzzy model is optimized by the differential evolution DE algorithm is used
to offline identify the inverse nonlinear system with uncertain parameters. The trained model was
validated by a different dataset from the training dataset for guarantee the convergence of the
training algorithm. Second, for robustly and adaptive purposes, the authors have proposed an additional adaptive fuzzy model based on Lyapunov stability theory combined with the optimized
multilayer fuzzy. The adaptive fuzzy based on sliding mode surface is designed to guarantee that
the closed-loop system is asymptotically stable has been proved base on a lyapunov stability theory. Furthermore, simulation tests are perfomed in Matlab/Simulink environment that controling
a water level of coupled tank with uncertain parameters are given to illustrate the effectiveness of
the proposed control scheme. The proposed control algorithm is implemented in simulation with
many different control parameters and it is also compared with the conventional adaptive control
algorithm and inverse controller. The simulation results also shows the superior of proposed controller than an adaptive fuzzy control or inverse controller when using the least mean square error
standard.
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Tóm tắt nội dung tài liệu: Adaptive multilayer T-S fuzzy controller for nonlinear siso system optimized by differential evolution algorithm
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Science & Technology Development Journal – Engineering and Technology, 2(SI1):SI9-SI21 Open Access Full Text Article Research Article 1Industrial University of Ho Chi Minh City, Viet Nam 2Faculty of Electrical and Electronics Engineering, Ho Chi Minh City University of Technology (HCMUT), 268 Ly Thuong Kiet Street, District 10, Ho Chi Minh City, Vietnam 3Vietnam National University Ho Chi Minh City, Linh Trung Ward, Thu Duc District, Ho Chi Minh City, Vietnam Correspondence Ho PhamHuy Anh, Faculty of Electrical and Electronics Engineering, Ho Chi Minh City University of Technology (HCMUT), 268 Ly Thuong Kiet Street, District 10, Ho Chi Minh City, Vietnam Vietnam National University Ho Chi Minh City, Linh Trung Ward, Thu Duc District, Ho Chi Minh City, Vietnam Email: hphanh@hcmut.edu.vn History Received: 18-10-2018 Accepted: 12-12-2018 Published: xx-12-2019 DOI : 10.32508/stdjet.v3iSI1.717 Adaptivemultilayer T-S fuzzy controller for nonlinear SISO system optimized by differential evolution algorithm Cao Van Kien1, Ho PhamHuy Anh2,3,* Use your smartphone to scan this QR code and download this article ABSTRACT In this paper, the authors propose a novel adaptive multilayer T-S fuzzy controller (AMTFC) with a optimize soft computing algorithm for a class of robust control uncertain nonlinear SISO systems. First, a new multilayer T-S fuzzy was created by combined multiple simple T-S fuzzy model with a sum function in the output. The multi-layer fuzzy model used in nonlinear identification has many advantages over conventional fuzzy models, but it cannot be created by the writer's experience or the trial and error method. It can only be created using an optimization algorithm. Then the pa- rameters of multilayer fuzzy model is optimized by the differential evolution DE algorithm is used to offline identify the inverse nonlinear system with uncertain parameters. The trained model was validated by a different dataset from the training dataset for guarantee the convergence of the training algorithm. Second, for robustly and adaptive purposes, the authors have proposed an ad- ditional adaptive fuzzy model based on Lyapunov stability theory combined with the optimized multilayer fuzzy. The adaptive fuzzy based on sliding mode surface is designed to guarantee that the closed-loop system is asymptotically stable has been proved base on a lyapunov stability the- ory. Furthermore, simulation tests are perfomed in Matlab/Simulink environment that controling a water level of coupled tank with uncertain parameters are given to illustrate the effectiveness of the proposed control scheme. The proposed control algorithm is implemented in simulation with many different control parameters and it is also compared with the conventional adaptive control algorithm and inverse controller. The simulation results also shows the superior of proposed con- troller than an adaptive fuzzy control or inverse controller when using the least mean square error standard. Key words: Multilayer T-S Fuzzy, Inverse Controller, Adaptive Control, Differential Evolution, Lyapunov Theory INTRODUCTION Fuzzy logic was first proposed in 1965 by Zadeh1. There aremany studies developed based on this fuzzy- based domain, such as Fuzzy type-2, Fuzzy type-n, neural fuzzy, hierarchical fuzzy to model and con- trol nonlinear system,2,3. Recently, Takagi–Sugeno (T–S) fuzzy model can provide a modeling frame for nonlinear systems. The advantage of T–S fuzzy sys- tems is that they allow us to use a set of local linear systemswith correspondingmembership functions to represent nonlinear systems. The T-S fuzzy model is widely accepted as a powerful modeling tool and it’s applications to various kinds of non-linear sys- tems can be found in 4–9. Based on the T-S fuzzy model of a plant, papers10–13 introduced a fuzzy con- trol designmethod for nonlinear systems with a guar- anteed H2=¥ model reference tracking performance. However, if the membership functions of the T–S fuzzy system encounter parametric-uncertainty prob- lem, the T–S fuzzy system cannot operate efficiently. Moreover, with a complex system, the more time it requires for training, the more complex membership functions that eventual fuzzy rule-table will become. To achieve a higher precision from the Fuzzy model, its parameters are required to be optimized and the fuzzy structure is needed to be changed. Recently, Type-2 fuzzy sets14–16 have been shown that they prove better than type-1 ones both on representing the nonlinear systems and handling the uncertain- ties. Paper17 presented the problem of fuzzy con- trol for nonlinear networked control systems with packet dropouts and parameter uncertainties based on the interval type-2 fuzzy-model-based approach. Paper18 introduced an inverse controller based on a type-2 fuzzy model control. Moreover, many re- searchers used the optimization algorithms such as a cuck ... is superior to inverse fuzzy control methods and adaptive fuzzy control. CONCLUSIONS In this paper, we propose an adaptive inverse multi- layer fuzzy control coupled tanks system fluid level regulation. The adaptive inverse multilayer fuzzy logic controller is created from themultiple T-S Fuzzy models and adaptive fuzzy model. The simulation results show that proposed adaptive multilayer fuzzy logic controller can be efficiently applied for con- trol nonlinear system. The proposed controller pos- sesses better control quality and proves strongly ro- bust due to satisfy Lyapunov stability principle. It is available for applying a scalable multilayer fuzzy model to amore complex nonlinear uncertain system. Thus, these results also ensure that proposed multi- SI16 Science & Technology Development Journal – Engineering and Technology, 2(SI1):SI9-SI21 Figure 7: Validation result Figure 8: Comparison results of algorithms with alpha=10, K=5 SI17 Science & Technology Development Journal – Engineering and Technology, 2(SI1):SI9-SI21 Figure 9: Comparison results of algorithms with alpha=2, K=5 Figure 10: Comparative results of algorithms with alpha=0.3, K=5 Table 2: COMPARATIVE PERFORMANCE OF THREE CONTROLLERS Method LMSE Inverse Fuzzy Control (IFC) 6.322 6.322 Adaptive Fuzzy Control (AFC) 4.229 4.675 Proposed Inverse Fuzzy Control with Adaptive Fuzzy (IFC+AFC) 2.648 2.8 SI18 Science & Technology Development Journal – Engineering and Technology, 2(SI1):SI9-SI21 layer fuzzy controller can be used to successfully con- trol of uncertain nonlinear complex system in near fu- ture study. ABBREVIATION SISO: Single Input – Single Output MISO: Multi Input – Single Output MIMO: Multi Input – Multi Output DE: Differential Evolution GA: Genetic Algorithm PSO: Particle Swarm Optimization T-S Fuzzy: Takagi-Sugeno Fuzzy CONFLICT OF INTEREST Theauthors declare that there is no conflict of interest. AUTHOR CONTRIBUTIONS CaoVanKien: Designed and performed experiments, analysed data and co-wrote the paper. Ho Pham Huy Anh: Supervised the research and co- wrote the paper. ACKNOWLEDGEMENT This research is funded by Vietnam National Univer- sity of Ho Chi Minh City (VNU-HCM) under grant number B2020-20-04. We acknowledge the support of time and facilities from Ho Chi Minh City Uni- versity of Technology (HCMUT), VNU-HCM for this study. REFERENCES 1. Zadeh L, Sets F. Information and Control. 1965;8(8):338–3365. Available from: https://doi.org/10.1016/S0019-9958(65)90241- X. 2. Precup, Radu-Emil, Hellendoorn H. A survey on indus- trial applications of fuzzy control. 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SI20 Tạp chí Phát triển Khoa học và Công nghệ – Kĩ thuật và Công nghệ, 2(SI1):SI9-SI21 Open Access Full Text Article Bài Nghiên cứu 1Trường Đại học Công nghiệp Tp.HCM, Việt Nam 2Trường Đại học Bách Khoa, ĐHQG-HCM, Việt Nam 3Trường Đại học Công nghiệp Tp.HCM, Việt Nam Liên hệ Hồ PhạmHuy Ánh, Trường Đại học Bách Khoa, ĐHQG-HCM, Việt Nam Email: hphanh@hcmut.edu.vn Lịch sử Ngày nhận: 18-10-2018 Ngày chấp nhận: 12-12-2018 Ngày đăng: 31-12-2019 DOI : 10.32508/stdjet.v3iSI1.717 Bản quyền © ĐHQG Tp.HCM. Đây là bài báo công bố mở được phát hành theo các điều khoản của the Creative Commons Attribution 4.0 International license. Điều khiểnmờ nhiều lớp thích nghi áp dụng chomô hình phi tuyến SISO tối ưu với giải thuật tiến hóa vi sai Cao Văn Kiên1, Hồ PhạmHuy Ánh2,*, Nguyễn Ngọc Sơn3 Use your smartphone to scan this QR code and download this article TÓM TẮT Bài báo đề xuất giải thuật điều khiển mờ nhiều lớp thích nghi (AMTFC) kết hợp giải thuật tính toán mềm tối ưu áp dụng cho điều khiển hệ phi tuyến SISO có các tham số không chắc chắn. Đầu tiên, mô hình mờ nhiều lớp được tạo ra bằng cách ghép nhiều mô hình mờ đơn giản với ngõ ra là một hàm tổng. Mô hình fuzzy nhiều lớp dùng trong nhận dạng hệ phi tuyến có nhiều đặc điểm vượt trội hơn so với mô hình mờ thông thường, tuy nhiên nó không thể tạo ra bằng kinh nghiệm của người viết hay phương pháp thử sai nên chỉ có thể kết hợp với một giải thuật tối ưu. Các tham số của mô hình mờ nhiều lớp ngược sau đó được nhận dạng với giải thuật tiến hóa vi sai (DE) nâng cao để nhận dạngmô hình ngược của hệ phi tuyến với các tham số không chắc chắn. Kết quả mô hình ngược được đánh giá trênmột tập dữ liệu khác so với tập dữ liệu huấn luyện để đảm bảo tính hội tụ của mô hình nhận dạng. Tiếp theo, để tăng tính ổn định và sự thích nghi của giải thuật điều khiển, tác giả đã có những đề xuất thêm vàomộtmô hìnhmờ thích nghi được xây dựng dựa vào lý thuyết ổn định Lyapunov kết hợp với mô hình điều khiển ngược trước đó. Mô hình mờ thích nghi dựa vào mặt trượt được thiết kế để đảm bảo hệ kín ổn định tiệm cận đã được các tác giả chứng minh thành công theo lý thuyết ổn định Lyapunov. Thêm nữa, kết quả mô phỏng điều khiển mực nướcmô hình bồn nước đôi với nhiều tham số điều khiển khác nhau và chất lượng điều khiển theo tiêu chuẩn tổng bình phương sai số đã chứng minh sự hiệu quả của giải thuật đề xuất so với các giải thuật điều khiển thích nghi truyền thống hoặc giải thuật điều khiển ngược. Từ khoá: Mô hình mờ nhiều lớp, điều khiển ngược, điều khiển thích nghi, giải thuật tiến hóa vi sai, ổn định Lyapunov Trích dẫn bài báo này: Văn Kiên C, Huy Ánh H P, Ngọc Sơn N. Điều khiển mờ nhiều lớp thích nghi áp dụng cho mô hình phi tuyến SISO tối ưu với giải thuật tiến hóa vi sai. Sci. Tech. Dev. J. - Eng. Tech.; 2(SI1):SI9-SI21. SI21
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