Fuzzy time-optimal controller (FTOC) for second order nonlinear systems

Abstract

The motivation behind this paper is to seek alternative techniques to achieve a near optimal controller for non-linear systems without solving the analytical problem. In classical optimal control systems, the system states and optimization co-state parameters generate a two-point boundary value problem (TPBVP) using Pontryagin’s minimum principle (PMP). The paper contributes a new fuzzy time-optimal controller to the existing fuzzy controllers which has two regular inputs and one bang-bang output. The proposed controller closely approximates the output of the classical time-optimal controller. Further, input membership function are tuned on-line to improve the time-optimal output. The new controller exhibits optimal behaviour for second order non-linear systems. The rules are selected to satisfy the stability and optimality conditions of the new fuzzy time-optimal controller. The paper describes a systematic procedure to design the controller and how to achieve the desired result. To benchmark the new controller performance, a sliding mode controller is used for guidance and comparison purpose. Simulation of three non-linear examples shows promising results. The work described here is expected to incite researcher’s interest in fuzzy time-optimal controller design.