Fuzzy control of second order vectorial systems: L2 stability

Author

Zavala Yoe, Ricardo

Author_Institution

Dept. de lngenieria, Insututo Tecnol. y de Estudios Super. de Monterrey, Mexico City, Mexico

fYear

1997

fDate

1-7 July 1997

Firstpage

817

Lastpage

823

Abstract

The L₂ stability criterion is defined only when we have squared control systems. However, it is very common that Fuzzy Control Systems-FCS-(plants + fuzzy controllers) have MISO Fuzzy Controllers regulating SISO plants. This document proposes a way that can study the L₂ stability in FCS when the Fuzzy Control is MISO and the plant is SISO or MIMO by means of the sliding control and passivity theory. Practically, there is no references about it and this paper tries to give an apportation in this sense. The class of plants to control belongs to the wide class of systems known as Second Order Vectorial Systems (SOVS) or Euler - Lagrange Systems (ELS). In this sense, both the non linear and the linear case are aboarded.

Keywords

MIMO systems; fuzzy control; linear systems; nonlinear control systems; stability; variable structure systems; ELS; Euler-Lagrange Systems; FCS; L₂ stability criterion; MIMO plant; SISO plant; SOVS; fuzzy control systems; linear case are; nonlinear case; passivity theory; second order vectorial systems; sliding control; squared control systems; Fuzzy control; Joints; MIMO; Robot kinematics; Sliding mode control; Stability criteria; Fuzzy; Second Order Vectorial Systems; Stability;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ECC), 1997 European

Conference_Location

Brussels

Print_ISBN

978-3-9524269-0-6

Type

conf

Filename

7082198