A systematic method for design of multivariable fuzzy logic controlsystems

This paper proposes a systematic method to design a multivariable fuzzy logic controller for large-scale nonlinear systems. In designing a fuzzy logic controller, the major task is to determine fuzzy rule bases, membership functions of input/output variables, and input/output scaling factors. In this work, the fuzzy rule base is generated by a rule-generated function, which is based on the negative gradient of a system performance index; the membership functions of isosceles triangle of input/output variables are fixed in the same cardinality and only the input/output scaling factors are generated from a genetic algorithm based on a fitness function. As a result, the searching space of parameters is narrowed down to a small space, the multivariable fuzzy logic controller can quickly constructed, and the fuzzy rules and the scaling factors can easily be determined. The performance of the proposed method is examined by computer simulations on a Puma 560 system and a two-inverted pendulum system     

A TSK-type neurofuzzy network approach to system modeling problems.

We develop a neurofuzzy network technique to extract TSK-type fuzzy rules from a given set of input-output data for system modeling problems. Fuzzy clusters are generated incrementally from the training dataset, and similar clusters are merged dynamically together through input-similarity, output-similarity, and output-variance tests. The associated membership functions are defined with statistical means and deviations. Each cluster corresponds to a fuzzy IF-THEN rule, and the obtained rules can be further refined by a fuzzy neural network with a hybrid learning algorithm which combines a recursive singular value decomposition-based least squares estimator and the gradient descent method. The proposed technique has several advantages. The information about input and output data subspaces is considered simultaneously for cluster generation and merging. Membership functions match closely with and describe properly the real distribution of the training data points. Redundant clusters are combined, and the sensitivity to the input order of training data is reduced. Besides, generation of the whole set of clusters from the scratch can be avoided when new training data are considered.     

三级倒立摆的加权变量模糊神经网络控制

为了提高三级倒立摆系统控制的响应速度和稳定性,在设计Mamdani型摸糊推理规则控制器控制倒立摆系统稳定的基础上,设计了一种更有效率的基于Sugeno型模糊推理规则的模糊神经网络控制器。该控制器使用BP神经网络和最小二乘法的混合算法进行参数训练,能够准确归纳输入输出量的模糊隶属度函数和模糊逻辑规则。通过与Mamdani型控制器的仿真对比,表明该Sugeno型模糊神经网络控制器对三级倒立摆系统的控制具有良好的稳定性和快速性,以及较高的控制精度。     

Self-organizing adaptive fuzzy neural control for the synchronization of uncertain chaotic systems with random-varying parameters

This paper proposes a self-organizing adaptive fuzzy neural control (SAFNC) for the synchronization of uncertain chaotic systems with random-varying parameters. The proposed SAFNC system is composed of a computation controller and a robust controller. The computation controller containing a self-organizing fuzzy neural network (SOFNN) identifier is the principle controller. The SOFNN identifier is used to online estimate the compound uncertainties with the structure and parameter learning phases of fuzzy neural network (FNN), simultaneously. The structure-learning phase consists of the growing of membership functions, the splitting of fuzzy rules and the pruning of fuzzy rules, and thus the SOFNN identifier can avoid the time-consuming trial-and-error tuning procedure for determining the network structure of fuzzy neural network. The robust controller is used to attenuate the effects of the approximation error so that the synchronization of chaotic systems is achieved.All the parameter learning algorithms are derived based on the Lyapunov stability theorem to ensure network convergence as well as stable synchronization performance. To demonstrate the effectiveness of the proposed method, simulation results are illustrated in this paper.     

A self-organizing fuzzy logic controller for the active control of flexible structures using piezoelectric actuators

This paper proposes an on-line self-organizing fuzzy logic controller (FLC) design applied to the control of vibrations in flexible structures containing distributed piezoelectric actuator patches. In this methodology, the fuzzy rules are generated using the history of input/output (I/O) pairs without using any plant model. The generated rules are stored in the fuzzy rule space and updated on-line by a self-organizing procedure. The validity of the proposed fuzzy logic control has been demonstrated experimentally in a steel cantilever test beam and a set of experimental tests are made in the system to verify the efficiency of the on-line self-organizing fuzzy controller.     

A new scheme for fuzzy rule-based system identification and itsapplication to self-tuning fuzzy controllers

There are many important issues that need to be resolved for identification of a fuzzy rule-based system using clustering. We address three such important issues: 1) deciding on the proper domain(s) of clustering; 2) deciding on the number of rules; and 3) getting an initial estimate of parameters of the fuzzy systems. We justify that one should start with separate clustering of X (input) and Y (output). We propose a scheme to establish correspondence between the clusters obtained in X and Y. The correspondence dictates whether further splitting/merging of clusters is needed or not. If X and Y do not exhibit strong cluster substructures, then again clustering of X* (input data augmented by the output data) exploiting the results of separate clustering of X and Y, and of the correspondence scheme is recommended. We justify that usual cluster validity indices are not suitable for finding the number of rules, and the proposed scheme does not use any cluster validity index. Three methods are suggested to get the initial estimate of membership functions (MFs). The proposed scheme is used to identify the rule base needed to realize a self-tuning fuzzy PI-type controller and its performance is found to be quite satisfactory.     

二级倒立摆的Sugeno型模糊神经网络控制

为了提高二级倒立摆系统实时控制的响应速度和稳定性,在设计Mamdani型模糊推理规则控制器控制倒立摆系统稳定的基础上,设计了一种更有效率的基于Sugeno型模糊推理规则的模糊神经网络控制器.该控制器使用BP神经网络和最小二乘法的混合算法进行参数训练.能够准确归纳输入输出量的模糊隶属度函数和模糊逻辑规则.通过与Mamdani型控制器的仿真对比及实际控制实验结果,表明该Sugeno型模糊神经网络控制器时二级倒立摆实验装置的控制具有良好的稳定性、快速性和较高的控制精度.     

Control of dynamic systems using fuzzy logic and neural networks

The use of artificial neural network is proposed for high-speed processing of rules in fuzzy logic controller (FLC). the logic element of an FLC is replaced by a single hidden layer feedforward network. the input and output fuzzy subsets are expressed it of numerical patterns. the network is trained using the back-propagation algori to establish fuzzy associations between the input and output fuzzy subsets. the inference mechanism of the network is compared with that of compositional law of inference. In the proposed implementation of FLC, all the rules are processed in paralle. This implementation has potential for high-speed processing of rules if the network is realized in hardware. the use of neural networks in fuzzy logic self-organizing is also ivestigated. © 1993 John Wiley & Sons, Inc.     

一种基于遗传算法的新的模糊控制器优化方法

通过分析对模糊控制器优化的原理,提出一种新的优化设计方法,通过引入等比因子,实现用三个参数调整输入、输出语言变量的隶属函数,再通过遗传算法寻优包括量化和比例因子在内的这些参数,使得性能指标最大,从而使设计出的模糊控制器性能更优。仿真结果表明,本文方法简单,有效。     

Modeling Connectionist Neuro-Fuzzy network and Applications

The main objective of this paper is to propose a Neuro-Fuzzy network, which can model a system from input–output data by automatically dividing the input–output space and extracting fuzzy if-then rules from numerical data. The structure of the network is simple with input, rule and output layers only. The connections between input and rule layer is used to derive the membership functions of the fuzzified part. Kohonens self-organizing learning algorithm is applied to partition the pattern space. Using this algorithm, similar rules are mapped close by and extraction of if-then rules is made easy. It can also adapt to a number of rules automatically. The proposed network is verified for three benchmark applications. Experimental results show that the adaptive method discussed in this paper not only trains in a few hundred iterations but also provides better performance measures when compared to conventional methods.     

Uncertainty of data, fuzzy membership functions, and multilayer perceptrons

Probability that a crisp logical rule applied to imprecise input data is true may be computed using fuzzy membership function (MF). All reasonable assumptions about input uncertainty distributions lead to MFs of sigmoidal shape. Convolution of several inputs with uniform uncertainty leads to bell-shaped Gaussian-like uncertainty functions. Relations between input uncertainties and fuzzy rules are systematically explored and several new types of MFs discovered. Multilayered perceptron (MLP) networks are shown to be a particular implementation of hierarchical sets of fuzzy threshold logic rules based on sigmoidal MFs. They are equivalent to crisp logical networks applied to input data with uncertainty. Leaving fuzziness on the input side makes the networks or the rule systems easier to understand. Practical applications of these ideas are presented for analysis of questionnaire data and gene expression data.     

采用非线性规则和不均匀分布的输入输出隶属函数时典型模糊控制器的结构分析

针对两输入 (e,Δe)一输出 (Δu)的典型模糊控制器, 其输入变量采用三角形、全交迭、对称、不均匀分布的隶属函数, 输出变量采用对称、不均匀分布的单点隶属函数, 当采用非线性控制规则和Sum Product推理方法时, 推导了输出的解析表达式, 分析了其结构特性和极限特性, 证明了此类模糊控制器具有通用逼近性, 并讨论了典型模糊控制系统的局部稳定性.     

An ART-based fuzzy adaptive learning control network

This paper addresses the structure and an associated online learning algorithm of a feedforward multilayer neural net for realizing the basic elements and functions of a fuzzy controller. The proposed fuzzy adaptive learning control network (FALCON) can be contrasted with traditional fuzzy control systems in network structure and learning ability. An online structure/parameter learning algorithm, FALCON-ART, is proposed for constructing FALCON dynamically. It combines backpropagation for parameter learning and fuzzy ART for structure learning. FALCON-ART partitions the input state space and output control space using irregular fuzzy hyperboxes according to the data distribution. In many existing fuzzy or neural fuzzy control systems, the input and output spaces are always partitioned into “grids”. As the number of variables increases, the number of partitioned grids grows combinatorially. To avoid this problem in some complex systems, FALCON-ART partitions the I/O spaces flexibly based on data distribution. It can create and train FALCON in a highly autonomous way. In its initial form, there is no membership function, fuzzy partition, and fuzzy logic rule. They are created and begin to grow as the first training pattern arrives. Thus, the users need not give it any a priori knowledge or initial information. FALCON-ART can online partition the I/O spaces, tune membership functions, find proper fuzzy logic rules, and annihilate redundant rules dynamically upon receiving online data     

Fuzzy-identification-based adaptive backstepping control using a self-organizing fuzzy system

In this paper, a fuzzy-identification-based adaptive backstepping control (FABC) scheme is proposed. The FABC system is composed of a backstepping controller and a robust controller. The backstepping controller, which uses a self-organizing fuzzy system (SFS) with the structure and parameter learning phases to on-line estimate the controlled system dynamics, is the principal controller, and the robust controller is designed to dispel the effect of approximation error introduced by the SFS. The developed SFS automatically generates and prunes the fuzzy rules by the proposed structure adaptation algorithm and the parameters of the fuzzy rules and membership functions tunes on-line in the Lyapunov sense. Thus, the overall closed-loop FABC system can guarantee that the tracking error and parameter estimation error are uniformly ultimately bounded; and the tracking error converges to a desired small neighborhood around zero. Finally, the proposed FABC system is applied to a chaotic dynamic system to show its effectiveness. The simulation results verify that the proposed FABC system can achieve favorable tracking performance even with unknown controlled system dynamics.     

Fuzzy neural network based voltage stability evaluation of power systems with SVC

Voltage stability has become of major concern for the power utilities. In this paper, multi input, single output fuzzy neural network is developed for voltage stability evaluation of the power systems with SVC by calculating the loadability margin. Uncertainties of real and reactive loads, real and reactive generations, bus voltages and SVC parameters are taken into account. All ac limits are considered. In the first stage, Kohonen self-organizing map is developed to cluster the real and reactive loads at all the buses to reduce the input features, thus limiting the size of the network and reducing computational burden. In the second stage, combination of different non-linear membership functions is proposed to transform the input variables into fuzzy domains. Then a three-layered feed forward neural network with fuzzy input variables is developed to evaluate the loadability margin. The proposed methodology is applied to IEEE-30 bus and IEEE-118 bus systems.     

一种挖掘模糊相似关联规则的新方法

提出了一种基于自组织特征映射(SOFM)网络的自动确定样本数据隶属度函数的新方法,并在此基础上根据相似性的概念,给出了相似度的计算公式,结合Apriori算法,提出了一种挖掘模糊相似关联规则的新算法。与现有的同类算法相比,现有的方法均需人为地确定隶属度函数,带有一定的主观性,尤其当数据结构较复杂时,隶属度函数难以确定;该算法克服了这一缺点,同时减少了冗余规则。     

Fuzzy controllers: synthesis and equivalences

It has been proved that fuzzy controllers are capable of approximating any real continuous control function on a compact set to arbitrary accuracy. In particular, any given linear control can be achieved with a fuzzy controller for a given accuracy. The aim of this paper is to show how to automatically build this fuzzy controller. The proposed design methodology is detailed for the synthesis of a Sugeno or Mamdani type fuzzy controller precisely equivalent to a given PI controller. The main idea is to equate the output of the fuzzy controller with the output of the PI controller at some particular input values, called modal values. The rule base and the distribution of the membership functions can thus be deduced. The analytic expression of the output of the generated fuzzy controller is then established. For Sugeno-type fuzzy controllers, precise equivalence is directly obtained. For Mamdani-type fuzzy controllers, the defuzzification strategy and the inference operators have to be correctly chosen to provide linear interpolation between modal values. The usual inference operators satisfying the linearity requirement when using the center of gravity defuzzification method are proposed     

Simplification of a fuzzy mechanism with rule combination

 In this paper, a systematic approach to reduce the complexity of a fuzzy controller with the rule combination of a fuzzy rule base is presented. The complexity of a fuzzy controller is defined to be the computation load in this work. The proposed rule combination approach can be applied to the fuzzy mechanisms with product–sum and min–max inferences. With the input membership functions indexed in sequence for each input variable, the n-dimensional fuzzy rule table is represented as vectors so that the combination of the fuzzy rule base is realizable. Then the adjacent fuzzy rules with the same output consequent are combined to have smaller size of fuzzy rule base. The fuzzy mechanism with the combined rule table is shown to have the same output with the original fuzzy mechanism (without rule combination). Thus, in many applications, the rule combination approach presented in this paper can be used to reduce the complexity of the fuzzy mechanism without degrading the performances. Moreover, the Don't Care fuzzy rules are defined and it is indicated that the number of the necessary fuzzy rules might be decreased when the Don't Care fuzzy rules are taken into consideration. Further, the properties of the simplification approach for the fuzzy rule base of the fuzzy mechanism are discussed.     

A Clustering-analysis-based membership functions formation method for fuzzy controller of ball mill pulverizing system

This paper proposes a clustering-analysis-based membership functions formation method for fuzzy controller of ball mill pulverizing system. An improved density-based clustering algorithm is presented to detect the clusters in the field database and the clusters are agglomerated or divided to form the new clusters according to the proximity or the dissimilarity between objects. Then, the new clusters are projected into the domains of the control variables to form the intervals, and the membership functions are established based on the intervals and the projections of the centroids of the clusters. The experiments results verify that the performance of our membership functions formation method is better and the fuzzy controller designed by our method has higher control quality. In addition, the fuzzy controller has been put into practice and the field data verify the effectiveness of the fuzzy controller.