1. SAMPLED-DATA FUZZY CONTROLLER FOR TRUCK- TRAILER WITH TIME DELAY Authors:H.K.Lam,Frank.H.F.Leung Authors:H.K.Lam,Frank.H.F.Leung Presented By Presented By S.Anitha Kumari 200831322

2. INTRODUCTION Sampled-data fuzzy control system with time delay is formed by a non-linear plant with time delay and a sampled-data fuzzy controller connected in closed loop. Adv:As this controller can be implemented by a microcontroller or a digital computer the implementation time and cost can be reduced Disadv:The sampling activity and time delay which are the potential cause of system instability will complicate the system dynamics and make the stability analysis much more difficult than that for a pure continuous-time fuzzy control system

3. CONTROL TECHNIQUES Control techniques to handle nonlinearsystems with time delay using fuzzy are Delay-independent Delay dependent Delay-independent -Stability conditions not related to time-delay information. Once time-delay fuzzy control system is stable,it is stable for any value of time delay Delay dependent- The time-delay information is considered, which leads to a complicated analysis procedure compared with that of the delay-independent approach.

4. Block diagram of sampled-data timedelay fuzzy model based controller

5. FUZZY PLANT MODEL Time delay is an inevitable source causing system instability Let p be the number of fuzzy rules describing the non-linear plant with time delay.The i-th rule is Rule i:IF f(x(t)) is M1 AND…AND f1(x(t)) is M2 THEN The overall system dynamics are described by

6. SAMPLED DATA FUZZY CONTROLLER A sampled data fuzzy controller with Fuzzy rules is designed based on the fuzzy model of the nonlinear plant.The jth rule of the controller is of format Rule j:IF is AND…AND is THEN The sampled data fuzzy controller can be represented as

9. DYNAMICS OF TRUCK-TRAILER WITH TIME DELAY

10. PLANT MODEL The overall system is described as the equation before in which the membership function is defined as

11. MODEL RULES

12. A four rule sampled data fuzzy controller is employed to stabilize the truck trailer with time delay

14. SYSTEM STATE RESPONSE & CONTROL SIGNALS OF TRUCK TRAILER WITH TIME DELAY UNDER FUZZY CONTROLLER WITH J1 & J2