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Switching fuzzy controller design based on switching Lyapunov function for a class of nonlinear systems

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3 Author(s)
Ohtake, H. ; Dept. of Mech. Eng. & Intelligent Syst., Univ. of Electro-Commun., Tokyo, Japan ; Tanaka, K. ; Wang, H.O.

This paper presents a switching fuzzy controller design for a class of nonlinear systems. A switching fuzzy model is employed to represent the dynamics of a nonlinear system. In our previous papers, we proposed the switching fuzzy model and a switching Lyapunov function and derived stability conditions for open-loop systems. In this paper, we design a switching fuzzy controller. We firstly show that switching fuzzy controller design conditions based on the switching Lyapunov function are given in terms of bilinear matrix inequalities, which is difficult to design the controller numerically. Then, we propose a new controller design approach utilizing an augmented system. By introducing the augmented system which consists of the switching fuzzy model and a stable linear system, the controller design conditions based on the switching Lyapunov function are given in terms of linear matrix inequalities (LMIs). Therefore, we can effectively design the switching fuzzy controller via LMI-based approach. A design example illustrates the utility of this approach. Moreover, we show that the approach proposed in this paper is available in the research area of piecewise linear control.

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Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on  (Volume:36 ,  Issue: 1 )