Stabilizing controller design for uncertain nonlinear systems using fuzzy models
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Institute of Electrical and Electronics Engineers (IEEE)
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A Lyapunov-based stabilizing control design method for uncertain nonlinear dynamical systems using fuzzy models is proposed. The controller is constructed using a design model of the dynamical process to be controlled. The design model is obtained from the truth model using a fuzzy modeling approach. The truth model represents a detailed description of the process dynamics. The truth model is used in a simulation experiment to evaluate the performance of the controller design. A method for generating local models that constitute the design model is proposed. Sufficient conditions for stability and stabilizability of fuzzy models using fuzzy state-feedback controllers are given. The results obtained are illustrated with a numerical example involving a four-dimensional nonlinear model of a stick balancer.
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fuzzy modeling, Lyapunov's method, stability, uncertain systems
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Inglês
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IEEE Transactions on Fuzzy Systems. New York: IEEE-Inst Electrical Electronics Engineers Inc., v. 7, n. 2, p. 133-142, 1999.
