Abstract
This contribution proposes a systematic approach for the computation of fast fuzzy controllers for non-linear multivariable systems. The design is based on a set of time-optimal trajectories which are computed by means of a dynamic programming approach in a cell state space. By modifying the classical cell-mapping approach it is possible to eliminate the mapping error even when using a coarse cell grid. The time-optimal cell trajectories are then used to generate a fuzzy rulebase which approximates the time-optimal control surface. This fuzzy controller requires only little on-line computational effort, and can be improved by using heuristic knowledge gained in experiments.
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