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This paper proposes an offset-free distributed implementation of a model predictive controller that employs fuzzy negotiation between agents. The scheme is based on model augmentation with additional disturbances to enable zero-offset tracking. Moreover, we code the negotiation criteria as a set of suitable fuzzy rules and consider stability and feasibility guarantees in the controller design for the linearized subsystems. We applied the method to an experimental four-tank plant, showing its effectiveness despite the coupling between subsystems and system-model mismatch.

[EN] In this work, a comparative experimental study of a fuzzy control scheme applied to a magnetic levitation system is presented. In this study, the experimental system responses for the case of position regulation of a sphere in levitation, for several control schemes, are shown. The applied position fuzzy control to the magnetic levitation system of a metallic sphere is of the PD type with current feedforward, equivalent to a gravity compensation. The main contribution of this work is the experimental application, in real time, of a fuzzy control in a magnetic levitation system and its comparison with other linear and non-linear control schemes; namely, PD and PID controllers with feedforward compensation and an Interconnection and Damping Assignment-Passivity Based Control scheme, a recently approach introduced in the control literature., [ES] Este trabajo presenta un esquema de control lógico borroso de regulación de posición aplicado a un sistema de suspensión o levitación magnética de una esfera metálica. El principal ingrediente de aportación de este trabajo es la aplicación experimental en tiempo real de dicho controlador y su comparación con otros esquemas tanto lineales como no lineales; a saber: esquemas de control PD y PID con precompensación, y un esquema basado en pasividad, asignación de amortiguamiento e interconexión, introducido recientemente en la literatura.

[EN] In this work, a comparative experimental study of a fuzzy control scheme applied to a magnetic levitation system is presented. In this study, the experimental system responses for the case of position regulation of a sphere in levitation, for several control schemes, are shown. The applied position fuzzy control to the magnetic levitation system of a metallic sphere is of the PD type with current feedforward, equivalent to a gravity compensation. The main contribution of this work is the experimental application, in real time, of a fuzzy control in a magnetic levitation system and its comparison with other linear and non-linear control schemes; namely, PD and PID controllers with feedforward compensation and an Interconnection and Damping Assignment-Passivity Based Control scheme, a recently approach introduced in the control literature., [ES] Este trabajo presenta un esquema de control lógico borroso de regulación de posición aplicado a un sistema de suspensión o levitación magnética de una esfera metálica. El principal ingrediente de aportación de este trabajo es la aplicación experimental en tiempo real de dicho controlador y su comparación con otros esquemas tanto lineales como no lineales; a saber: esquemas de control PD y PID con precompensación, y un esquema basado en pasividad, asignación de amortiguamiento e interconexión, introducido recientemente en la literatura.

[EN] In this work, a comparative experimental study of a fuzzy control scheme applied to a magnetic levitation system is presented. In this study, the experimental system responses for the case of position regulation of a sphere in levitation, for several control schemes, are shown. The applied position fuzzy control to the magnetic levitation system of a metallic sphere is of the PD type with current feedforward, equivalent to a gravity compensation. The main contribution of this work is the experimental application, in real time, of a fuzzy control in a magnetic levitation system and its comparison with other linear and non-linear control schemes; namely, PD and PID controllers with feedforward compensation and an Interconnection and Damping Assignment-Passivity Based Control scheme, a recently approach introduced in the control literature., [ES] Este trabajo presenta un esquema de control lógico borroso de regulación de posición aplicado a un sistema de suspensión o levitación magnética de una esfera metálica. El principal ingrediente de aportación de este trabajo es la aplicación experimental en tiempo real de dicho controlador y su comparación con otros esquemas tanto lineales como no lineales; a saber: esquemas de control PD y PID con precompensación, y un esquema basado en pasividad, asignación de amortiguamiento e interconexión, introducido recientemente en la literatura.

[EN] In this work, a comparative experimental study of a fuzzy control scheme applied to a magnetic levitation system is presented. In this study, the experimental system responses for the case of position regulation of a sphere in levitation, for several control schemes, are shown. The applied position fuzzy control to the magnetic levitation system of a metallic sphere is of the PD type with current feedforward, equivalent to a gravity compensation. The main contribution of this work is the experimental application, in real time, of a fuzzy control in a magnetic levitation system and its comparison with other linear and non-linear control schemes; namely, PD and PID controllers with feedforward compensation and an Interconnection and Damping Assignment-Passivity Based Control scheme, a recently approach introduced in the control literature., [ES] Este trabajo presenta un esquema de control lógico borroso de regulación de posición aplicado a un sistema de suspensión o levitación magnética de una esfera metálica. El principal ingrediente de aportación de este trabajo es la aplicación experimental en tiempo real de dicho controlador y su comparación con otros esquemas tanto lineales como no lineales; a saber: esquemas de control PD y PID con precompensación, y un esquema basado en pasividad, asignación de amortiguamiento e interconexión, introducido recientemente en la literatura.

A target intercept guidance system for directing a steerable object, such as a torpedo with an acoustic homing device. The guidance system senses the bearing and range between a first site and a second site and determines the position of a guidance point for the steerable object as it moves toward the second site. Two error functions are produced. The first error function represents the angle between the bearing from the guidance point of the steerable object to the second site and me course of the steerable object. The second error signal represents an estimate of the rate of change of that angle. These error signals are classified into first and second sensed linguistic variables based upon membership functions from the first and second sensed variable membership function sets to become fuzzy inputs that produce fuzzy outputs comprised of control output linguistic variables and corresponding control output membership functions from a control output membership function set based upon logical manipulation of the fuzzy inputs. These fuzzy control output membership functions are converted into an output having an appropriate form for control after being conditioned in response to other information including the relative positions of the guidance point of the steerable object and the second site., Supersedes PAT-APPL-498 810-95, AD-D017 680