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Title: Lyapunov-function-based design of fuzzy logic controllers and its application on combining controllers
Authors: Wong, LK
Leung, FHF 
Tam, PKS
Keywords: Combining controllers
Fuzzy logic control
Issue Date: Jun-1998
Publisher: Institute of Electrical and Electronics Engineers
Source: IEEE transactions on industrial electronics, June 1998, v. 45, no. 3, p. 502-509 How to cite?
Journal: IEEE transactions on industrial electronics 
Abstract: This paper presents the design of fuzzy logic controllers (FLC's) for nonlinear systems with guaranteed closed-loop stability and its application on combining controllers. The design is based on heuristic fuzzy rules. Although each rule in the FLC refers to a stable closed-loop subsystem, the overall system stability cannot be guaranteed when all these rules are applied together. In this paper, it is proved that if each subsystem is stable in the sense of Lyapunov (ISL) under a common Lyapunov function, the overall system is also stable ISL. Since no fuzzy plant model is involved, the number of subsystems generated is relatively small, and the common Lyapunov function can be found more easily. To probe further, an application of this design approach to an inverted pendulum system that combines a sliding-mode controller (SMC) and a state feedback controller (SFC) is to be reported. Each rule in this FLC has an SMC or an SFC in the consequent part. The role of the FLC is to schedule the final control under different antecedents. The stability of the whole system is guaranteed by the proposed design approach. More importantly, the controller thus designed can keep the advantages and remove the disadvantages of the two conventional controllers.
ISSN: 0278-0046
EISSN: 1557-9948
DOI: 10.1109/41.679009
Rights: © 1998 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
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