Experimental application of Takagi-Sugeno observers and controllers in a nonlinear electromechanical system

Abstract

In this paper, a systematic methodology to design fuzzy Takagi-Sugeno observers and controllers will be used to estimate the angular positions and speeds, as well as to stabilise an experimental mechanical system with 3 degrees of freedom (fixed quadrotor). Takagi-Sugeno observers and controllers are compared to observers and controllers based on the linearized model, both designed with the same optimization criteria and design parameters.Experimental results confirm that Takagi-Sugeno models and observers behave similarly to linear onesaround the linearization point, but have a better performance over a larger operating range, as intuitively expected.