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.

Keywords

Linear Model System Design Fuzzy Logic Finite Number Lyapunov Function 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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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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