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Class 1 April 2012 PDF

This document discusses a fuzzy logic cruise controller that uses two fuzzy inputs - speed difference and acceleration - to control the throttle output. It describes the fuzzy rule base containing 8 rules relating the inputs to the output. An example is provided of fuzzifying the speed difference and acceleration inputs using membership functions and calculating the rule strengths. The fuzzy output is then determined and defuzzified using the centroid method to produce a throttle control setting. Fuzzy associative memories are also briefly discussed as a type of fuzzy neural network that can store fuzzy input-output patterns.

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45 views19 pages

Class 1 April 2012 PDF

This document discusses a fuzzy logic cruise controller that uses two fuzzy inputs - speed difference and acceleration - to control the throttle output. It describes the fuzzy rule base containing 8 rules relating the inputs to the output. An example is provided of fuzzifying the speed difference and acceleration inputs using membership functions and calculating the rule strengths. The fuzzy output is then determined and defuzzified using the centroid method to produce a throttle control setting. Fuzzy associative memories are also briefly discussed as a type of fuzzy neural network that can store fuzzy input-output patterns.

Uploaded by

Spk Sudhin
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
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EE04 804(B) Soft Computing Ver 1.

2
Module 3
Fuzzy Logic Controller
(Case Studies)
5/1/2012 1
Dr. Sasidharan Sreedharan
www.sasidharan.webs.com
Fuzzy Logic- Crisp & Fuzzy sets-
fuzzy relations fuzzy conditional
statements- fuzzy rules- fuzzy
algorithm. Fuzzy Logic Controller
Fuzzy Interface knowledge base
decision making logic
defuzzification interface- design of
fuzzy logic controller case studies.
Module III
Fuzzy Cruise Controller
3
The controller is used to maintain a vehicle at a desired
speed.
The system consists of two fuzzy inputs namely speed
difference and acceleration
The fuzzy output is throttle control.
Fuzzy cruise controller
Speed
Difference
Acceleration
Throttle
control
The Fuzzy rule base
4
1. If (speed difference is NL) and (acceleration is ZE) then (throttle control is PL)
2. If (speed difference is ZE) and (acceleration is NL) then (throttle control is PL)
3. If (speed difference is NM) and (acceleration is ZE) then (throttle control is PM)
4. If (speed difference is NS) and (acceleration is PS) then (throttle control is PS)
5. If (speed difference is PS) and (acceleration is NS) then (throttle control is NS)
6. If (speed difference is PL) and (acceleration is ZE) then (throttle control is NL)
7. If (speed difference is ZE) and (acceleration is NS) then (throttle control is PS)
8. If (speed difference is ZE) and (acceleration is NM) then (throttle control is PM)


NL: Negative Large; PM : Positive Medium; ZE: Zero
NS: Negative Small; PL: Positive Large; PS: Positive Small
NM: Negative Medium
Fuzzy rule base
5
Speed Difference Acceleration Throttle Control
NL ZE PL
ZE NL PL
NM ZE PM
NS PS PS
PS NS NS
PL ZE NL
ZE NS PS
ZE NM PM
NL: Negative Large; PM : Positive Medium; ZE: Zero
NS: Negative Small; PL: Positive Large; PS: Positive Small
NM: Negative Medium
Fuzzy Sets
6
Fuzzification of inputs
7
Fuzzification Example
8
Membership function
9
NS
Delta 1= 100-63 = 37
Delta 2=127-100 = 27
Slope1 = 1/32 = 0.03125
Slope2= 1/32 = 0.03125


ZE
Delta 1= 100-95 = 5
Delta 2=159-100 = 59
Slope1 = 1/32 = 0.0315
Slope2= 1/32 = 0.0315

37 * 0.03125
( ) min 27 * 0.03125
1
0.8438
NS
x
(
(
=
(
(

=
5 * 0.03125
( ) min 59 * 0.03125
1
0.1563
ZE
x
(
(
=
(
(

=
NL,NM,PS,PM,PL is zero
Speed difference = 100
Membership function
10
NM



( ) 0.7813
NM
x =
Acceleration= 70
NS



Acceleration= 70
( ) 0.2188
NS
x =
Rule strength
11
1.Min (0,0) =0
2.Min (0.1563,0) = 0
3.Min (0,0) = 0
4.Min (0.8438,0) = 0
5.Min (0,0.2188) = 0
6.Min (0,0) = 0
7.Min (0.1563,0.2188) = 0.1563
8.Min (0.1563,0.7813) = 0.1563
Rule strength is obtained by
computing the minimum of
the membership functions
Fuzzy output
12
Fuzzy output of the system is the fuzzy OR of all the
fuzzy outputs of the rules with non zero rule strengths.

In the event of more than one rule qualifying for the
same fuzzy output, the stronger among them is chosen.
Defuzzification
13
The centre of gravity method is applied to defuzzify the
output.

Initially the centroids are computed for each of the
computing output membership functions

Rule Base
14
Defuzzification
15
For the fuzzy set PS
X-axis centroid point =159
Rule strength applied to determine output area = 0.1563
Shaded area =

1 1
1
.( )
2
1
(0.1563)(64 63.82)
2
9.99
h a b +
+
For the fuzzy set PM
X-axis centroid point =191
Rule strength applied to determine output area = 0.1563
Shaded area =

1 1
1
.( )
2
1
(0.1563)(64 63.82)
2
9.99
h a b +
+
Weighted average:
CG = (9.99*159+9.99*191)/19.98
= 175
Throttle control (normalized)
setting
Short Answer Questions
16
1. Explain about fuzzy relations
2. What are fuzzy associative memories? What is its use
3. Describe fuzzy conditional statements and fuzzy rules
4. Explain knowledge base and decision making logic
5. Describe about fuzzy algorithms
6. What are the various defuzzification methods
7. What is fuzzification? Give an example
8. What are fuzzy associative memories? What is its use?
9. Describe briefly fuzzy logic crisp and fuzzy sets and fuzzy
relations.
10. Explain briefly knowledge base and decision-making logic.
11. Describe about fuzzy algorithm
12. Describe about defuzzification interface.


Essay type questions
17
1. Explain fuzzy logic, crisp and fuzzy sets, fuzzy rules and
fuzzy algorithm.
2. Explain fuzzification interface, knowledge base and
defuzzification interface.
3. Describe fuzzy algorithm
4. Compare various defuzzification methods
5. Describe fuzzy rules, fuzzy algorithm, design of fuzzy logic
controller.
6. Describe fuzzy inference. Discuss fuzzy inferring
procedures.
7. Describe briefly fuzzification interface, knowledge base and
decision-making logic?
8. Explain about defuzzification interface and design of fuzzy
logic controller.
9. Describe about design of fuzzy logic controller and case
studies.
Fuzzy associative memory (FAM)
18
Fuzzy associative memories (FAMs) belong to the class of fuzzy
neural networks (FNNs).
A FNN is an artificial neural network (ANN) whose input
patterns, output patterns, and/or connection weights are fuzzy-
valued
Kosko's FAM suffers from an extremely low storage capacity and
hence his overall fuzzy system comprises several FAM matrices.

Given a fuzzy input, the FAM matrices generate fuzzy outputs
which are then combined to yield the final result.

To overcome the original FAMs storage capacity limitations,
several researchers have developed improved FAM versions that
are capable of storing multiple pairs of fuzzy patterns.

Regards

www.sasisreedhar.webs.com

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