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JOURNAL ARTICLE

Fuzzy combination of fuzzy and switching state-feedback controllers for nonlinear systems subject to parameter uncertainties

H K Lam, Frank H F Leung
IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics 2005, 35 (2): 269-81
15828655
This paper presents a fuzzy controller, which involves a fuzzy combination of local fuzzy and global switching state-feedback controllers, for nonlinear systems subject to parameter uncertainties with known bounds. The nonlinear system is represented by a fuzzy combined Takagi-Sugeno-Kang model, which is a fuzzy combination of the global and local fuzzy plant models. By combining the local fuzzy and global switching state-feedback controllers using fuzzy logic techniques, the advantages of both controllers can be retained and the undesirable chattering effect introduced by the global switching state-feedback controller can be eliminated. The steady-state error introduced by the global switching state-feedback controller when a saturation function is used can also be removed. Stability conditions, which are related to the system matrices of the local and global closed-loop systems, are derived to guarantee the closed-loop system stability. An application example will be given to demonstrate the merits of the proposed approach.

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