Title :
Automatic design of nonlinear controllers with optimal global performance using best estimate directed search and continued propagation cell mapping
Author :
Rizk, Charbel G. ; Smith, Samuel M.
Author_Institution :
Dept. of Ocean Eng., Florida Atlantic Univ., Boca Raton, FL, USA
Abstract :
The paper describes an optimal nonlinear control design method which consists of using an analysis tool, continued propagation cell mapping (CPCM), as feedback to the synthesis tool, best estimate directed search (BEDS). The method is successfully applied to the design of a TSK-type fuzzy logic (FL) controller and a sliding mode-type (SM) controller for the uncertain nonlinear system of an inverted pendulum on a cart for large pole angles (+/-86 degrees). The resulting controller´s performance compares favorably to others designed with cell mapping (CM) and a genetic algorithm (GA)
Keywords :
control system CAD; controllers; fuzzy control; fuzzy logic; least mean squares methods; nonlinear control systems; optimal control; pendulums; random processes; variable structure systems; TSK-type fuzzy logic controller design; analysis tool; automatic nonlinear controller design; best estimate directed search; continued propagation cell mapping; controller performance; inverted pendulum; large pole angles; optimal global performance; optimal nonlinear control design method; sliding mode-type controller design; synthesis tool; uncertain nonlinear system; Automatic control; Control design; Control system synthesis; Control systems; Feedback; Fuzzy logic; Nonlinear control systems; Optimal control; Samarium; Sliding mode control;
Conference_Titel :
Systems, Man, and Cybernetics, 1997. Computational Cybernetics and Simulation., 1997 IEEE International Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-4053-1
DOI :
10.1109/ICSMC.1997.633273
