Lecture 35Fuzzy Logic Control (III).pptVIP

(C) 2001 by Yu Hen Hu Lecture 35Fuzzy Logic Control (III) Outline FLC design procedure Defuzzification Fine-tuning fuzzy rules. Dog chases cat example implementation details FLC Design Procedures Step 4. Defuzzification Step 5. Fine-tuning the control rules and performance evaluation Evaluate the quality of the control rules using testing data set, and iteratively refine the definition of the fuzzy sets, and the fuzzy control rules. Most time consuming, tedious, and difficult part. Evaluate the effectiveness of a fuzzy controller by comparing to (if available) existing base line algorithms, analyzing cost benefit trade-off, implementation issues, etc. FLC is only one of many alternatives! The value of FLC must be weighted against competing solutions. Implementation Details Fuzzification: Use discrete support. The universe-of-discourse of support are sampled at uniform (or non-uniform) intervals. Each fuzzy set (linguistic variable) is represented as a vector. Each element of the vector represents the values of the membership function at a particular point in the universe of discourse. DCC example Support vectors (both in degrees) sang: [–180 –150 –120 –90 –60 –30 0 30 60 90 120 150 180] sdz: [ –30 –25 –20 –15 –10 –5 0 5 10 15 20 25 30] Representing Fuzzy Sets M=[1 .67 .33 0 0 0 0 0 0 0 0 0 0; % LN 0 .33 .67 1 .67 .33 0 0 0 0 0 0 0; % SN 0 0 0 0 .33 .67 1 .67 .33 0 0 0 0; % ZO 0 0 0 0 0 0 0 .33 .67 1 .67 .33 0; % SP 0 0 0 0 0 0 0 0 0 0 .33 .67 1]; % LP Each row is represent a different fuzzy variable Each column of M is a sampling point over the universe of discourse of the support. To fuzzify ang(t) = 20o, first represent it on the support sang using interpolation: a = [0 0 0 0 0 0 1/3 2/3 0 0 0 0 0] Next, determine the fuzzy representation (input fuzzy variable activation)of ang(t): a = a M’ = [ 0 0 7/9 2/9 0 ]