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Hybrid control system design using a fuzzy logic interface

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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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Authors and Affiliations

  1. Automation and Robotics Research Institute, The University of Texas at Arlington, 7300 Jack Newell Boulevard South, Fort Worth, Texas, 76118-7115

    Rafael Fierro, Frank L. Lewis & Kai Liu

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  1. Rafael Fierro
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  2. Frank L. Lewis
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  3. Kai Liu
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Fierro, R., Lewis, F.L. & Liu, K. Hybrid control system design using a fuzzy logic interface. Circuits Systems and Signal Process 17, 401–419 (1998). https://doi.org/10.1007/BF01202300

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