Journal
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS
Volume 355, Issue 14, Pages 6353-6370Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.jfranklin.2018.06.025
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Funding
- NBHM/DAE [2/48(4)/2013/NBHM(R.P)/RD II/687]
- Basic Science Research Program through the National Research Foundation of Korea (NRF) - Ministry of Education, Science and Technology [NRF-2016R1D1A1A09917886]
- Brain Research Program through the National Research Foundation of Korea (NRF) - Ministry of Science, ICT & Future Planning [NRF-2017M3C7A1044815]
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This paper studies the robust stochastic stabilization problem for a class of fuzzy Markovian jump systems with time-varying delay and external disturbances via sliding mode control scheme. Based on the equivalent-input-disturbance (EID) approach, an online disturbance estimator is implemented to reject the unknown disturbance effect on the considered system. Specifically, to obtain exact EID estimation Luenberger fuzzy state observer and a low-pass filter incorporated to the closed-loop system. Moreover, novel fuzzy EID-based sliding mode control law is constructed to ensure the stability of the closed-loop system with satisfactory disturbance rejection performance. By employing Lyapunov stability theory and some integral inequalities, a new set of delay-dependent robust stability conditions is derived in terms of linear matrix inequalities (LMIs). The resulting LMI is used to find the gains of the state-feedback controller and the state observer a for the resulting closed-loop system. At last, numerical simulations based on the single-link arm robot model are provided to illustrate the proposed design technique. (C) 2018 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.
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