A switching controller for uncertain nonlinear systems

Author

Lam, H.K. ; Leung, Frank H F ; Tam, Peter K S

Author_Institution

Dept. of Electron. & Inf. Eng., Hong Kong Polytech., Kowloon, China

Volume

22

Issue

1

fYear

2002

fDate

2/1/2002 12:00:00 AM

Firstpage

7

Lastpage

14

Abstract

A switching controller is proposed to control nonlinear plants subject to unknown parameters within known bounds. The nonlinear plant is represented by a fuzzy plant model. This switching controller is able to drive the system states to follow those of a reference model. The switching controller consists of several linear controllers. One of the linear controllers is employed at each moment according to a switching scheme, which is derived based on Lyapunov stability theory. First, we describe a reference model, a fuzzy plant model, and a switching controller. Next, we investigate the system stability of the switching control system. The switching scheme is derived based on Lyapunov stability theory, and the gains of the switching controllers are designed. Then, we provide an application example of an inverted pendulum on a cart. Finally, we present our conclusions

Keywords

Lyapunov methods; control system analysis; control system synthesis; feedback; fuzzy systems; linear systems; nonlinear control systems; position control; uncertain systems; Lyapunov stability theory; cart; fuzzy plant model; gains; inverted pendulum; linear controllers; reference model; stability; switching controller; uncertain nonlinear systems; Control systems; Fuzzy control; Fuzzy systems; Linear systems; Lyapunov method; Mathematical model; Nonlinear control systems; Nonlinear systems; Stability; Vectors;

fLanguage

English

Journal_Title

Control Systems, IEEE

Publisher

ieee

ISSN

1066-033X

Type

jour

DOI

10.1109/37.980242

Filename

980242