Design of a fuzzy gain scheduler using sliding mode control principles
Fuzzy gain schedulers are designed on the basis of a conventional modeling of the nonlinear controlled system and the division of the state space into a finite number of fuzzy regions. Linearization of the nonlinear system at the center of each fuzzy region leads to the design of a set of linear control laws that locally stabilize the linearized system, and consequently the original nonlinear system at the corresponding operating point. Gain scheduling control of the original nonlinear system can be therefore realized along an a priori unknown, but slowly time varying desired trajectory. In this paper we analyze the stability and robustness of the gain-scheduled closed-loop system by adopting ideas from sliding mode control. It is shown that gain scheduling control of the original nonlinear system can be realized along an a priori unknown, but slowly time-varying desired trajectory. It is shown how the advantages of the sliding mode types of analysis of a fuzzy gain scheduler can also be used for its design. (C) 2001 Elsevier Science B.V. All rights reserved.
design gain scheduling sliding mode control fuzzy control