Design and stability analysis of fuzzy model-based nonlinear controller for nonlinear systems using genetic algorithm

Authors:
H. K. Lam;F. H. Leung;P. K.S. Tam
Affiliations:
Dept. of Electron. & Inf. Eng., Hong Kong Polytech. Univ., Kowloon, China;-;-
Venue:
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Year:
2003

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Abstract

This paper presents stability analysis of fuzzy model-based nonlinear control systems, and the design of nonlinear gains and feedback gains of the nonlinear controller using a genetic algorithm (GA) with arithmetic crossover and nonuniform mutation. A stability condition is derived based on Lyapunov's stability theory with a smaller number of Lyapunov conditions. A solution of the stability conditions is also determined using GA. An application example of stabilizing a cart-pole typed inverted pendulum system is given to show the stabilizability of the nonlinear controller.