Electronic Throttle Valve Takagi-Sugeno Fuzzy Control Based on Nonlinear Unknown Input Observers

Wafa Gritli, Hajer Gharsallaoui, Mohamed Benrejeb, Pierre Borne

Abstract


This paper deals with the synthesis of a new fuzzy controller applied to Electronic Throttle Valve (ETV) affected by an unknown input in order to enhance the rapidity and accuracy of trajectory tracking performance. Firstly, the Takagi-Sugeno (T-S) fuzzy model is employed to approximate this nonlinear system. Secondly, a novel Nonlinear Unknown Input Observer (NUIO)-based controller is designed by the use of the concept of Parallel Distributed Compensation (PDC). Then, based on Lyapunov method, asymptotic stability conditions of the error dynamics are given by solving Linear Matrix Inequalities (LMIs). Finally, the effectiveness of the proposed control strategy in terms of tracking trajectory and in the presence of perturbations is verified in comparison with a control strategy based on Unknown Input Observers (UIO) of the ETV described by a switched system for Pulse-Width-Modulated (PWM) reference signal.

Keywords


Electronic throttle valve, switched system, Takagi-Sugeno fuzzy model, nonlinear unknown input observer, Lyapunov method

Full Text:

PDF

References


Ben Hamouda, L.; Ayadi, M.; Langlois, N. (2016); Fuzzy Fault Tolerant Predictive Control for a Diesel Engine Air Path, International Journal of Control, Automation and Systems, 14, 443-451, 2016.
https://doi.org/10.1007/s12555-014-0533-2

Benrejeb, M.; Soudani, D.; Sakly, A.; Borne, P. (2006); New Discrete Tanaka Sugeno Kang Fuzzy Systems Characterization and Stability Domain, International Journal of Computers Communications & Control, 1(4), 9-19, 2006.
https://doi.org/10.15837/ijccc.2006.4.2302

Benrejeb, M. (2010); Stability Study of Two Level Hierarchical Nonlinear Systems Plenary lecture, IFAC Proceedings Volumes, 43(8), 30-41, 2010.

Bernardo, M.; Gaeta, A.; Montanaro, U.; Santini, S. (2010); Synthesis and experimental validation of the novel LQ-NEMCSI adaptive strategy on an electronic throttle valve, IEEE Transactions on Control Systems Technology, 18(6), 1325-1337, 2010.

Bezzaoucha, S.; Marx, B.; Maquin, D.; Ragot, J. (2013); State and parameter estimation for nonlinear systems: a Takagi-Sugeno approach, In American Control Conference, Washington, 2013.

Caruntu, C.F.; Vargas, A.N.; Acho, L.; Pujol, G. (2018); Adaptive-Smith Predictor for Controlling an Automotive Electronic Throttle over Network, International Journal of Comput- ers Communications & Control, 13(2), 151-161, 2018.
https://doi.org/10.15837/ijccc.2018.2.3109

Chen, W.; Saif, M. (2007); Design of a TS Based Fuzzy Nonlinear Unknown Input Observer with Fault Diagnosis Applications, American Control Conference, New York, 2007.

Chen, J.; Patton, R. J.; Zhang, H. Y. (1996); Design of unknown input observers and robust fault detection filters, International Journal of Control, 63(1), 85-105, 1996.
https://doi.org/10.1080/00207179608921833

Delmotte, F.; Dambrine, M.; Delrot, S.; Lalot, S. (2013); Fouling detection in a heat exchanger: A polynomial fuzzy observer approach, Control Engineering Practice, 21, 1386- 1395, 2013.
https://doi.org/10.1016/j.conengprac.2013.06.004

Deur, J.; Pavkovic, D.; Peric, N.; Jansz, M.; Hrovat, D. (2004); An electronic throttle control strategy including compensation of friction and limphome effects, IEEE Transanctions on Industry Applications, 40(3), 821-834, 2004.
https://doi.org/10.1109/TIA.2004.827441

Du, Z.-B.; Lin, T.-C.; Zhao, T.-B. (2015); Fuzzy Robust Tracking Control for Uncertain Nonlinear Time-Delay System, International Journal of Computers Communications and Control, 10(6), 812-824, 2015.

Dragos, C.-A.; Precup, R.-E.; Tomescu, M.L.; Preitl, S.; Petriu, E.M.; Radac, M.-B. (2013); An Approach to Fuzzy Modeling of Electromagnetic Actuated Clutch Systems, International Journal of Computers Communications and Control, 8(3), 395-406, 2013.
https://doi.org/10.15837/ijccc.2013.3.218

Dzitac, I.; Filip, F.G.; Manolescu, M.J. (2017); Fuzzy Logic Is Not Fuzzy: World-renowned Computer Scientist Lotfi A. Zadeh, International Journal of Computers Communications & Control, 12(6), 748-789, 2017.
https://doi.org/10.15837/ijccc.2017.6.3111

Gritli, W.; Gharsallaoui, H.; Benrejeb, M. (2017); A New Methodology for Tuning PIDType Fuzzy Logic Controllers Scaling Factors Using Genetic Algorithm of a Discrete-Time System, Modern Fuzzy Control Systems and Its Applications, InTech, 5, 89-103, 2017.

Gritli, W.; Gharsallaoui, H.; Benrejeb, M. (2016); PID-type Fuzzy Scaling Factors Tuning Using Genetic Algorithm and Simulink Design Optimization for Electronic Throttle Valve, 3rd International Conference on Control, Decision and Information Technologies CoDIT, Malta, 2016.

Gritli, W.; Gharsallaoui, H.; Benrejeb, M. (2017); Fault Tolerant Control Based on PID-type Fuzzy Logic Controller for Switched Discrete-time Systems: An Electronic Throttle Valve Application, Advances in Science, Technology and Engineering Systems Journal, 2(6), 186- 193, 2017.
https://doi.org/10.25046/aj020623

Gritli, W.; Gharsallaoui, H.; Benrejeb, M. (2017); Fault Detection Based on Unknown Input Observers for Switched Discrete-Time Systems, International Conference on Advanced Systems and Electric Technologies IC-ASET, Hammamet, 2017.

He, S.P.; Liu, F. (2012); Finite-time H1 fuzzy control of nonlinear jump systems with time delays via dynamic observer-based state feedback, IEEE Transactions on Fuzzy Systems, 20(4), 605-614, 2012.
https://doi.org/10.1109/TFUZZ.2011.2177842

Ichalal, D.; Marx, B.; Ragot, J.; Maquin, D. (2009); State and unknown input estimation for nonlinear systems described by Takagi-Sugeno models with unmeasurable premise variables, In 17th Mediterranean Conference on Control and Automation, Thessaloniki, 2009.

Jiao, X.; Zhang, J.; Shen, T. (2008); Variable-Structure Control of Electronic Throttle Valve, IEEE Transactions on Industrial Electronics, 55(11), 2008.

Jiao, X.; Zhang, J.; Shen, T. (2014); An Adaptive Servo Control Strategy for Automotive Electronic Throttle and Experimental Validation, IEEE Transactions on Industrial Elec- tronics, 61(11), 2014.

Kamal, E.; Aitouche, A.; Ghorbani, R.; Bayart, M. (2012); Unknown Input Observer with Fuzzy Fault Tolerant Control for Wind Energy System, 8th IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes, Mexico City, 2012.

Kitahara, A; Sato, A.; Hoshino, M.; Kurihara, N.; Shin, S. (1996); LQG based electronic throttle control with a two degree of freedom structurev, Proceedings 35th IEEE Conference Decision Control, 6(3), 1785-1789, Kobe, 1996.

Lebbal, M.; Chafouk, H.; Hoblos, G.; Lefebvre, D. (2007); Modelling and Identification of Non-Linear Systems by a Multimodel Approach: Application to a Throttle Valve, Interna- tional Journal Information and Systems Science, 3, 67-87, 2007.

Lendek, Z.; Guerra, T.M.; De Schutter, B. (2010); Stability analysis and nonlinear observer design using Takagi-Sugeno fuzzy models, Springer, 2010.

Li, H.Y.; Gao, Y.B.; Wu, L.G. Lam, H.K. (2015); Fault detection for T-S fuzzy time-delay systems: Delta operator and input-output methods, IEEE Transactions on Cybernetics, 45(2), 229-241, 2015.
https://doi.org/10.1109/TCYB.2014.2323994

Li, H.Y.; Shi, P.; Yao, D.Y.; Wu, L.G. (2016); Observer based adaptive sliding mode control for nonlinear Markovian jump systems, Automatica, 64, 133-142, 2016.
https://doi.org/10.1016/j.automatica.2015.11.007

Manai, Y.; Benrejeb, M. (2011); New Condition of Stabilisation for Continuous Takagi- Sugeno Fuzzy System based on Fuzzy Lyapunov Function, International Journal of Control and Automation, 4(3), 2011.

Nakano, K.; Sawut, U.; Higuchi, K.; Okajima, Y. (2006); Modelling and observer-based sliding-mode control of electronic throttle systems, ECTI Transactions on Electrical Engi- neering, Electronics, and Communications, 4(1), 22-28, 2006.

Ozguner, U.; Hong, S.; Pan, Y. (2001); Discrete-time sliding mode control of electronic throttle valve, Proceedings 40th IEEE Conference Decision Control, 1819-1824, Orlando, FL, 2001.

Pavkovic, D.; Deur, J.; Jansz. M.; Peric, N. (2006); Adaptive control of automotive electronic throttle, Control Engineering Practice, 14(2), 121-136, 2006.
https://doi.org/10.1016/j.conengprac.2005.01.006

Qu, Z.-F.; Du, Z.-B. (2016); Fuzzy H2 Guaranteed Cost Sampled-Data Control of Nonlinear Time-Varying Delay Systems, International Journal of Computers Communications & Control, 11(5), 708-719, 2016.
https://doi.org/10.15837/ijccc.2016.5.2682

Su, X.J.; Shi, P.; Wu, L.G.; Song, Y.-D. (2013); A novel control design on discrete-time Takagi-Sugeno fuzzy systems with time-varying delays, IEEE Transactions on Fuzzy Sys- tems, 21(4), 655-671, 2013.
https://doi.org/10.1109/TFUZZ.2012.2226941

Tanaka, K; Sugeno, M. (1992); Stability Analysis and Design of Fuzzy Control Systems, Fuzzy Sets and Systems, 45(2), 135-156, 1992.
https://doi.org/10.1016/0165-0114(92)90113-I

Tanaka, K.; Ikeda, T.; Wang, H.O. (1998); Fuzzy regulators and fuzzy observers: relaxed stability conditions and LMI-based designs, IEEE Transanctions on Fuzzy Systems, 6(2), 1-16, 1998.

Takagi, T.; Sugeno, M. (1985); Fuzzy identification of systems and its application to modeling and control, IEEE Transactions on Systems, Man and Cybernetics, 15, 116-132, 1985.

Yang, C. (2004); Model-based analysis and tuning of electronic throttle controllers, Visteon Corporation, SAE 2004 World Congress & Exhibition, 63-67, 2004.

Yuan, X.; Wang, Y.; Sun, W.; Wu, L. (2010); RBF networks-based adaptive inverse model control system for electronic throttle, IEEE Transactions on Control Systems Technology, 18(3), 750-756, 2010.
https://doi.org/10.1109/TCST.2009.2026397

Zadeh, L.A.; Tufis, D.; Filip, F.G.; Dzitac, I.; (2008); From Natural Language to Soft Computing: New Paradigms in Artificial Intelligence, Exploratory Workshop on NL- Computation, Baile Felix, Oradea, Romania, 2008.

Zhang, J.H.; Shi, P.; Qiu, J.Q.; Nguang, S.K. (2015); A novel observer-based output feedback controller design for discrete-time fuzzy systems, IEEE Transactions on Fuzzy Systems, 23(1), 223-229, 2015.
https://doi.org/10.1109/TFUZZ.2014.2306953

Zhao, X.D.; Zhang, L.X.; Shi, P.; Karimi, H.R. (2014); Novel stability criteria for T-S fuzzy systems, IEEE Transactions on Fuzzy Systems, 22(2), 313-323, 2014.
https://doi.org/10.1109/TFUZZ.2013.2254491




DOI: https://doi.org/10.15837/ijccc.2018.5.3281



Copyright (c) 2018 Wafa Gritli

Creative Commons License
This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.

CC-BY-NC  License for Website User

Articles published in IJCCC user license are protected by copyright.

Users can access, download, copy, translate the IJCCC articles for non-commercial purposes provided that users, but cannot redistribute, display or adapt:

  • Cite the article using an appropriate bibliographic citation: author(s), article title, journal, volume, issue, page numbers, year of publication, DOI, and the link to the definitive published version on IJCCC website;
  • Maintain the integrity of the IJCCC article;
  • Retain the copyright notices and links to these terms and conditions so it is clear to other users what can and what cannot be done with the  article;
  • Ensure that, for any content in the IJCCC article that is identified as belonging to a third party, any re-use complies with the copyright policies of that third party;
  • Any translations must prominently display the statement: "This is an unofficial translation of an article that appeared in IJCCC. Agora University  has not endorsed this translation."

This is a non commercial license where the use of published articles for commercial purposes is forbiden. 

Commercial purposes include: 

  • Copying or downloading IJCCC articles, or linking to such postings, for further redistribution, sale or licensing, for a fee;
  • Copying, downloading or posting by a site or service that incorporates advertising with such content;
  • The inclusion or incorporation of article content in other works or services (other than normal quotations with an appropriate citation) that is then available for sale or licensing, for a fee;
  • Use of IJCCC articles or article content (other than normal quotations with appropriate citation) by for-profit organizations for promotional purposes, whether for a fee or otherwise;
  • Use for the purposes of monetary reward by means of sale, resale, license, loan, transfer or other form of commercial exploitation;

    The licensor cannot revoke these freedoms as long as you follow the license terms.

[End of CC-BY-NC  License for Website User]


INTERNATIONAL JOURNAL OF COMPUTERS COMMUNICATIONS & CONTROL (IJCCC), With Emphasis on the Integration of Three Technologies (C & C & C),  ISSN 1841-9836.

IJCCC was founded in 2006,  at Agora University, by  Ioan DZITAC (Editor-in-Chief),  Florin Gheorghe FILIP (Editor-in-Chief), and  Misu-Jan MANOLESCU (Managing Editor).

Ethics: This journal is a member of, and subscribes to the principles of, the Committee on Publication Ethics (COPE).

Ioan  DZITAC (Editor-in-Chief) at COPE European Seminar, Bruxelles, 2015:

IJCCC is covered/indexed/abstracted in Science Citation Index Expanded (since vol.1(S),  2006); JCR2016: IF=1.374. .

IJCCC is indexed in Scopus from 2008 (CiteScore 2017 = 1.04; SNIP2017 = 0.616, SJR2017 =0.326):

Nomination by Elsevier for Journal Excellence Award Romania 2015 (SNIP2014 = 1.029): Elsevier/ Scopus

IJCCC was nominated by Elsevier for Journal Excellence Award - "Scopus Awards Romania 2015" (SNIP2014 = 1.029).

IJCCC is in Top 3 of 157 Romanian journals indexed by Scopus (in all fields) and No.1 in Computer Science field by Elsevier/ Scopus.

 

 Impact Factor in JCR2017 (Clarivate Analytics/SCI Expanded/ISI Web of Science): IF=1.29 (Q3). Scopus: CiteScore2017=1.04 (Q2); Editors-in-Chief: Ioan DZITAC & Florin Gheorghe FILIP.