Takagi-Sugeno fuzzy observer and extended-Kalman filter for adaptive payload estimation

Selami Beyhan, Zsofia Lendek, Musa Alci, Robert Babuska
2013 2013 9th Asian Control Conference (ASCC)  
In 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
more » ... 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.
doi:10.1109/ascc.2013.6606241 dblp:conf/ascc/BeyhanLAB13 fatcat:lglej6wppba3tmmvr3wm3hypry