Technical report 07 - 018 TS fuzzy controllers for cascaded systems ∗

A large class of dynamic systems can be decomposed into or approximated by cascaded subsystems. Applications include multi-agent systems, distributed process control, and hierarchical large-scale systems. Nonlinear dynamic systems can be represented as Takagi-Sugeno (TS) fuzzy models, with linear or affine consequents. For cascaded TS systems, it has been proven that the stability of the subsystems implies the stability of the overall system. In this paper, the cascaded approach is used for controller design. A theoretical design method for tracking TS controllers and a simulation example are presented. The results show that the distributed controller achieves the same performance as the centralized one, while leading to increased modularity, reduced complexity, lower computational costs, and easier tuning.