Circuits, Systems and Signal Processing

, Volume 17, Issue 3, pp 401–419 | Cite as

Hybrid control system design using a fuzzy logic interface

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

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.

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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

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