By Topic

Designing stable MIMO fuzzy controllers

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
E. Kubica ; Dept. of Syst. Design Eng., Univ. of Waterloo, Ont., Canada ; D. Madill ; D. Wang

This paper presents a systematic procedure for constructing a multi-input multi-output fuzzy controller that guarantees identical performance to an existing stabilizing linear controller. An algorithm is devised that generates a fuzzy controller which is functionally identical to a given time-invariant or time-varying finite-dimensional linear controller. The benefit of this transformation is that it provides an automated technique for the initial fuzzy controller setup while vital knowledge-based attributes are integrated afterwards. An important result of this work is that once a linguistic mapping into the fuzzy domain has been performed, one can see in linguistic terms how the linear controller operates. The effectiveness of this approach is demonstrated with a model for a flexible robot that exhibits nonminimum phase characteristics. An extension is outlined to use this deterministic approach for the case of a general dynamic control-law, and several applications to nonlinear control problems are discussed.

Published in:

IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics)  (Volume:35 ,  Issue: 2 )