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Sampled-data Fuzzy Observer Design for an Attitude and Heading Reference System and Its Experimental Validation

  • Kim, Han Sol (School of Electrical and Electronic Engineering, Yonsei University) ;
  • Park, Jin Bae (School of Electrical and Electronic Engineering, Yonsei University) ;
  • Joo, Young Hoon (Dept. of Control and Robotics Engineering, Kunsan National Universitty)
  • Received : 2017.05.15
  • Accepted : 2017.08.05
  • Published : 2017.11.01

Abstract

In this paper, a linear matrix inequality-based sampled-data fuzzy observer design method is proposed based on the exact discretization approach. In the proposed design technique, a numerically relaxed observer design condition is obtained by using the discrete-time fuzzy Lyapunov function. Unlike the existing studies, the designed observer is robust to the uncertain premise variable because the fuzzy observer is designed under the imperfect premise matching condition, in which the membership functions of the system and observer are mismatched. In addition, we apply the proposed method to the state estimation problem of the attitude and heading reference system (AHRS). To do this, we derive a Takagi-Sugeno fuzzy model for the AHRS system, and validate the proposed method through the hardware experiment.

Acknowledgement

Supported by : National Research Foundation of Korea (NRF), Korea Institute of Energy Technology Evaluation and Planning(KETEP)

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