Hierarchical fuzzy controllers: fuzzy gain scheduling

The paper presents a model for hierarchical fuzzy controllers, which is a form of fuzzy gain scheduling. The underlying strategy in designing hierarchical fuzzy control systems is a selection of a global policy (global nonlinear control) based on a collection of local controllers that are solely developed with respect to "locally" linearized models of the system. A sample hierarchical fuzzy attitude control system for a specific class of small satellites is given.