Circuits, Systems and Signal Processing

, Volume 17, Issue 3, pp 401–419

Hybrid control system design using a fuzzy logic interface

  • Rafael Fierro
  • Frank L. Lewis
  • Kai Liu
Article

DOI: 10.1007/BF01202300

Cite this article as:
Fierro, R., Lewis, F.L. & Liu, K. Circuits Systems and Signal Process (1998) 17: 401. doi:10.1007/BF01202300

Abstract

A hybrid control system is proposed for regulating an unknown nonlinear plant. The interface between the continuous-state plant and the discrete-event supervisor is designed using a fuzzy logic approach. The fuzzy logic interface partitions the continuous-state space into a finite number of regions. In each region, the original unknown nonlinear plant is approximated by a fuzzy logic-based linear model, then state-feedback controllers are designed for each linear model. A high-level supervisor coordinates (mode switching) the set of closed-loop systems in a stable and safe manner. The stability of the system is studied using nonsmooth Lyapunov functions. For illustration and verification purposes, this technique has been applied to the well-known inverted pendulum balancing problem.

Copyright information

© Birkhäuser 1998

Authors and Affiliations

  • Rafael Fierro
    • 1
  • Frank L. Lewis
    • 1
  • Kai Liu
    • 1
  1. 1.Automation and Robotics Research InstituteThe University of Texas at ArlingtonFort Worth

Personalised recommendations