Takagi-Sugeno Fuzzy Observer and Extended-Kalman Filter for Adaptive Payload Estimation

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dc.contributor.authorBeyhan, Selami
dc.contributor.authorLendek, Zsofia
dc.contributor.authorAlci, Musa
dc.contributor.authorBabuska, Robert
dc.date.accessioned2019-10-27T21:42:17Z
dc.date.available2019-10-27T21:42:17Z
dc.date.issued2013
dc.departmentEge Üniversitesien_US
dc.description9th Asian Control Conference (ASCC) -- JUN 23-26, 2013 -- Istanbul, TURKEYen_US
dc.description.abstractIn this paper, two nonlinear state estimation methods, Takagi-Sugeno fuzzy observer and extended-Kalman filter are compared in terms of their ability to reliably estimate the velocity and an unknown, variable payload of a nonlinear servo system. Using the system dynamics and a position measurement, the velocity and unknown payload are estimated. In a simulation study, the servo system is excited with a randomly generated step input. In real-time experiments, the estimation is performed under feedback-linearizing control. The performance of the TS fuzzy payload estimator is discussed with respect to the choice of the desired convergence rate. The application results show that the Takagi-Sugeno fuzzy observer provides better performance than the extended-Kalman filter with robust and less parameter dependent structure.en_US
dc.description.sponsorshipRomanian National Authority for Scientific Research; CNCS UEFISCDI [PN-II-RU-TE-2011-3-0043]; Pamukkale University Scientific Research Projects (BAP) Department [74/05.10.2011]en_US
dc.description.sponsorshipThis work was supported by a grant of the Romanian National Authority for Scientific Research, CNCS UEFISCDI, project number PN-II-RU-TE-2011-3-0043, contract number 74/05.10.2011, and also supported by Pamukkale University Scientific Research Projects (BAP) Department.en_US
dc.identifier.isbn978-1-4673-5769-2; 978-1-4673-5767-8
dc.identifier.issn2072-5639
dc.identifier.issn2072-5639en_US
dc.identifier.scopusqualityN/Aen_US
dc.identifier.urihttps://hdl.handle.net/11454/46861
dc.identifier.wosWOS:000333734900252en_US
dc.identifier.wosqualityN/Aen_US
dc.indekslendigikaynakScopusen_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.language.isoenen_US
dc.publisherIeeeen_US
dc.relation.ispartof2013 9Th Asian Control Conference (Ascc)en_US
dc.relation.ispartofseriesAsian Control Conference ASCC
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.titleTakagi-Sugeno Fuzzy Observer and Extended-Kalman Filter for Adaptive Payload Estimationen_US
dc.typeConference Objecten_US

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