제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1998년도 제13차 학술회의논문집
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- Pages.185-189
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- 1998
Design of Fuzzy Model Based Controller for Uncertain Nonlinear Systems
- Wook Chang (Dept. of Electrical Engineering, Yonsei University) ;
- Joo, Young-Hoon (Dept. of Control & Instrumentation Eng., Kunsan University) ;
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Park, Jin-Bae
(Dept. of Electrical Engineering, Yonsei University) ;
- Guanrong Chen (Dept. of Electrical & Computer Engineering, University of Houston)
- 발행 : 1998.10.01
초록
This paper addresses analysis and design of a fuzzy model-based-controller for the control of uncertain SISO nonlinear systems. In the design procedure, we represent the nonlinear system by using a Takagi-Sugeno fuzzy model and construct a global fuzzy logic controller via parallel distributed compensation and sliding mode control. Unlike other parallel distributed controllers, this globally stable fuzzy controller is designed without finding a common positive definite matrix for a set of Lyapunov equations, and has good tracking performance. The stability analysis is conducted not for the fuzzy model but for the real underlying nonlinear system. Furthermore, the proposed method can be applied to partially known uncertain nonlinear systems. A numerical simulation is performed for the control of an inverted pendulum, to show the effectiveness and feasibility of the proposed fuzzy control method.
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