A calibration approach based on Takagi–Sugeno fuzzy inference system for digital electronic compasses

Recently, the development of industrial processes brought on the outbreak of technologically complex systems. This development generated the necessity of research relative to the mathematical techniques that have the capacity to deal with project complexities and validation. Fuzzy models have been receiving particular attention in the area of nonlinear systems identification and analysis due to it is capacity to approximate nonlinear behavior and deal with uncertainty. A fuzzy rule-based model suitable for the approximation of many systems and functions is the Takagi–Sugeno (TS) fuzzy model. TS fuzzy models are nonlinear systems described by a set of if then rules which gives local linear representations of an underlying system. Such models can approximate a wide class of nonlinear systems. In this paper a performance analysis of a system based on TS fuzzy inference system for the calibration of electronic compass devices is considered. The contribution of the evaluated TS fuzzy inference system is to reduce the error obtained in data acquisition from a digital electronic compass. For the reliable operation of the TS fuzzy inference system, adequate error measurements must be taken. The error noise must be filtered before the application of the TS fuzzy inference system. The proposed method demonstrated an effectiveness of 57% at reducing the total error based on considered tests.     

Optimal input design for set-membership identification of Hammerstein models

In this paper the problem of optimal input design for the identification of Hammerstein models is considered under the assumption that the linear dynamic part of the model is a FIR and that lower and upper bounds are available for the additive measurement errors. The parameters of the Hammerstein model can then be estimated via the identification of a linearized augmented Hammerstein model . External approximations of the feasible intervals for the parameters of the original Hammerstein models are then derived (which may correspond to the actual feasible intervals). This paper deals with the design of input sequences minimizing parameter uncertainty for the linearized augmented Hammerstein model . Some new results are also reported about optimal input design for polynomial non-linear blocks, that may be part of Hammerstein models.     

Rational stabilising commutative controllers: parameterisation and characterisation of degrees of freedom

The Characteristic Locus Method constitutes a generalisation of the classical frequency response approach and as such provides a natural platform for design aimed at meeting specifications such as closed-loop stability and dynamic performance. However, to overcome problems of sensitivity to uncertainty, it is necessary to precondition the plant transfer function matrix (TFM) with the view to improving the orthogonality of the eigenvector functions. All that remains then is to use controllers which adjust the frequency response of the eigenfunctions of the TFM while leaving the eigenvectors unaltered. This implies the need for commutative controllers which may be irrational and may not be internally stabilising. The present paper gives a complete characterisation of the class of stabilising rational commutative controllers and derived necessary and sufficient conditions for the existence of this class. These ideas are illustrated by means of case study in which the degrees of freedom contained within the class of commutative controllers are deployed for the meeting design specifications on dynamic performance as well as tolerance to uncertainty.     

Evolving Takagi–Sugeno fuzzy model based on switching to neighboring models

In this paper, we propose a new online identification approach for evolving Takagi–Sugeno (TS) fuzzy models. Here, for a TS model, a certain number of models as neighboring models are defined and then the TS model switches to one of them at each stage of evolving. We define neighboring models for an in-progress (current) TS model as its fairly evolved versions, which are different with it just in two fuzzy rules. To generate neighboring models for the current model, we apply specially designed split and merge operations. By each split operation, a fuzzy rule is replaced with two rules; while by each merge operation, two fuzzy rules combine to one rule. Among neighboring models, the one with the minimum sum of squared errors – on certain time intervals – replaces the current model.To reduce the computational load of the proposed evolving TS model, straightforward relations between outputs of neighboring models and that of current model are established. Also, to reduce the number of rules, we define and use first-order TS fuzzy models whose generated local linear models can be localized in flexible fuzzy subspaces. To demonstrate the improved performance of the proposed identification approach, the efficiency of the evolving TS model is studied in prediction of monthly sunspot number and forecast of daily electrical power consumption. The prediction and modeling results are compared with that of some important existing evolving fuzzy systems.     

比例型T-S模糊控制系统稳定性分析与设计

讨论了比例型T-S模糊控制系统(TSS)的稳定性与设计问题. 利用具有乘积可换性状态矩阵的T-S系统的公共P阵构造方法及鲁棒稳定域条件, 给出了TSS系统的满足全局Lyapunov稳定的正定矩阵P的递推求解方法, 并提出一种TSS模糊控制系统设计和稳定性分析的规范化方法.     

Comparison of necessary conditions for typical Takagi-Sugeno andMamdani fuzzy systems as universal approximators

Both Takagi-Sugeno (TS) and Mamdani fuzzy systems are known to be universal approximators. We investigate whether one type of fuzzy approximators is more economical than the other. The TS fuzzy systems are the typical two-input single-output TS fuzzy systems. We first establish necessary conditions on minimal system configuration of the TS fuzzy systems as function approximators. We show that the number of the input fuzzy sets and fuzzy rules needed by the TS fuzzy systems depend on the number and locations of the extrema of the function to be approximated. The resulting conditions reveal the strength of the TS fuzzy approximators. The drawback, though, is that a large number of fuzzy rules must be employed to approximate periodic or highly oscillatory functions. We then compare these necessary conditions with the ones that we established for the general Mamdani fuzzy systems in our previous papers. Results of the comparison unveil that the minimal system configurations of the TS and Mamdani fuzzy systems are comparable. Finally, we prove that the minimal configuration of the TS fuzzy systems can be reduced and becomes smaller than that of the Mamdani fuzzy systems if nontrapezoidal or nontriangular input fuzzy sets are used. We believe that all the results in present paper hold for the TS fuzzy systems with more than two input variables but the proof seems to be mathematically difficult. Our new findings are valuable in designing more compact fuzzy systems, especially fuzzy controllers and models which are two most popular and successful applications of the fuzzy approximators     

The analytic hierarchy process: a note on an approach to sensitivity which preserves rank order

Within the framework of the AHP as it applies to multicriteria decisions, it is frequently the case that decision makers are certain about the rank order of the objects for a particular pairwise comparison matrix but uncertain about the precise numerical weights that the AHP produces for that matrix. This uncertainty translates directly into uncertainty about whether the best alternative obtained from the AHP is actually the best alternative. However, if the weights of an AHP pairwise comparison matrix can be varied in a way that preserves the rank order of the objects, and at the same time, this perturbation does not result in the best alternative changing, then the decision maker is typically much more confident about what the AHP recommends. In this paper, I detail a simple approach to sensitivity within the AHP which preserves the rank order of the objects.Scope and purposeIn the author's experience with AHP as a multicriteria decision tool, it is frequently the case that decision makers (DMs) are quite certain about the rank order of the objects for a particular pairwise comparison matrix (PCM) but uncertain about the precise numerical weights that the AHP produces for that matrix. This uncertainty translates directly into uncertainty about whether the best alternative obtained from the AHP is actually the best alternative. However, if the weights of a PCM can be varied in a way that preserves the rank order of the objects for that matrix, and at the same time, this perturbation does not result in the best alternative overall changing, then the DM is typically much more confident about what the AHP recommends. In this paper I detail such an approach to sensitivity for the AHP.     

General SISO Takagi-Sugeno fuzzy systems with linear ruleconsequent are universal approximators

Takagi-Sugeno (TS) fuzzy systems have been employed as fuzzy controllers and fuzzy models in successfully solving difficult control and modeling problems in practice. Virtually all the TS fuzzy systems use linear rule consequent. At present, there exist no results (qualitative or quantitative) to answer the fundamentally important question that is especially critical to TS fuzzy systems as fuzzy controllers and models, “Are TS fuzzy systems with linear rule consequent universal approximators?” If the answer is yes, then how can they be constructed to achieve prespecified approximation accuracy and what are the sufficient renditions on systems configuration? In this paper, we provide answers to these questions for a general class of single-input single-output (SISO) fuzzy systems that use any type of continuous input fuzzy sets, TS fuzzy rules with linear consequent and a generalized defuzzifier containing the widely used centroid defuzzifier as a special case. We first constructively prove that this general class of SISO TS fuzzy systems can uniformly approximate any polynomial arbitrarily well and then prove, by utilizing the Weierstrass approximation theorem, that the general TS fuzzy systems can uniformly approximate any continuous function with arbitrarily high precision. Furthermore, we have derived a formula as part of sufficient conditions for the fuzzy approximation that can compute the minimal upper bound on the number of input fuzzy sets and rules needed for any given continuous function and prespecified approximation error bound, An illustrative numerical example is provided     

An Analytical Study on Structure, Stability and Design of General Nonlinear Takagi–Sugeno Fuzzy Control Systems

In this paper, we first study analytical structure of general nonlinear Takagi-Sugeno (TS, for short) fuzzy controllers, then establish a condition for analytically determining asymptotic stability of the fuzzy control systems at the equilibrium point, and finally use the stability condition in design of the control systems that are at least locally stable. The general TS fuzzy controllers use arbitrary input fuzzy sets, any types of fuzzy logic AND, TS fuzzy rules with linear consequent and the generalized defuzzifier which contains the popular centroid defuzzifier as a special case. We have mathematically proved that the general TS fuzzy controllers are nonlinear controllers with variable gains continuously changing with controllers’ input variables. Using Lyapunov’s linearization method, we have established a necessary and sufficient condition for analytically determining local asymptotic stability of TS fuzzy control systems, each of which is made up of a fuzzy controller of the general class and a nonlinear plant. We show that the condition can be used in practice even when the plant model is not explicitly known. We have utilized the stability condition to design, with or without plant model, general TS fuzzy control systems that are at least locally stable. Three numerical examples are given to illustrate in detail how to use our new results. Our results offer four important practical advantages: (1) our stability condition, being a necessary and sufficient one, is the tightest possible stability condition, (2) the condition is simple and easy to use partially because it only needs the fuzzy controller structure around the equilibrium point, (3) the condition can be used for determining system local stability and designing fuzzy control systems that are stable at least around the equilibrium point even when the explicit plant models are unavailable, and (4) the condition covers a very broad range of nonlinear TS fuzzy control systems, for which a meaningful global stability condition seems impossible to establish.     

From pixels to multi-robot decision-making: A study in uncertainty

Mobile robots must cope with uncertainty from many sources along the path from interpreting raw sensor inputs to behavior selection to execution of the resulting primitive actions. This article identifies several such sources and introduces methods for (i) reducing uncertainty and (ii) making decisions in the face of uncertainty. We present a complete vision-based robotic system that includes several algorithms for learning models that are useful and necessary for planning, and then place particular emphasis on the planning and decision-making capabilities of the robot. Specifically, we present models for autonomous color calibration, autonomous sensor and actuator modeling, and an adaptation of particle filtering for improved localization on legged robots. These contributions enable effective planning under uncertainty for robots engaged in goal-oriented behavior within a dynamic, collaborative and adversarial environment. Each of our algorithms is fully implemented and tested on a commercial off-the-shelf vision-based quadruped robot.     

A robust super-efficiency data envelopment analysis model for ranking of provincial gas companies in Iran

Conventional super-efficiency data envelopment analysis (DEA) models require the exact information of inputs or outputs. However, in many real world applications this simple assumption does not hold. Stochastic super-efficiency is one of recent methods which could handle uncertainty in data. Stochastic super-efficiency DEA models are normally formulated based on chance constraint programming. The method is used to estimate the efficiency of various decision making units (DMUs). In stochastic chance constraint super-efficiency DEA, the distinction of probability distribution function for input/output data is difficult and also, in several cases, there is not enough data for estimating of distribution function. We present a new method which incorporates the robust counterpart of super-efficiency DEA. The perturbation and uncertainty in data is assumed as ellipsoidal set and the robust super-efficiency DEA model is extended. The implementation of the proposed method of this paper is applied for ranking different gas companies in Iran.     

An interval-valued intuitionistic fuzzy multiattribute group decision making framework with incomplete preference over alternatives

This article proposes a framework to handle multiattribute group decision making problems with incomplete pairwise comparison preference over decision alternatives where qualitative and quantitative attribute values are furnished as linguistic variables and crisp numbers, respectively. Attribute assessments are then converted to interval-valued intuitionistic fuzzy numbers (IVIFNs) to characterize fuzziness and uncertainty in the evaluation process. Group consistency and inconsistency indices are introduced for incomplete pairwise comparison preference relations on alternatives provided by the decision-makers (DMs). By minimizing the group inconsistency index under certain constraints, an auxiliary linear programming model is developed to obtain unified attribute weights and an interval-valued intuitionistic fuzzy positive ideal solution (IVIFPIS). Attribute weights are subsequently employed to calculate distances between alternatives and the IVIFPIS for ranking alternatives. An illustrative example is provided to demonstrate the applicability and effectiveness of this method.     

The problem of possibilistic-probabilistic optimization

This paper studies the models and methods for solving optimization problems with hybrid possibilistic-probabilistic uncertainty. The models under consideration have a peculiarity that the interaction of fuzzy parameters is described by the weakest t-norm. We propose solution methods that are based on the integration of indirect optimization methods (the design of equivalent problems) and direct (stochastic quasi-gradient) optimization methods. We establish the results for the models that were not considered in the previous publications on the subject. The resulting models and methods allow us to construct the generalized portfolio analysis models that are intended for managing combined (hybrid) uncertainty.     

A bootstrap approach to assess parameter uncertainty in simple catchment models

Catchment models simulate water and solute dynamics at catchment scales and are invaluable tools for natural resource management. Parameters for catchment models can provide useful information about the importance of the hydrological processes involved. We propose and demonstrate a bootstrap approach to assess parameter uncertainty in dynamic catchment models. This approach, which is non-Bayesian and essentially non-parametric, requires no distributional assumptions about parameters and only weak assumptions about the distributional form of the model residuals. It is able to handle autocorrelated model errors which are very common in the application of dynamic hydrological models at catchment scales. The ability of our bootstrap approach to assess parameter uncertainty is demonstrated using numerical experiments with the abc hydrological model and an application of a conceptual model of salt load from an irrigated catchment in southeastern Australia.     

摄动离散矩阵Lyapunov方程解的估计

研究摄动离散矩阵Lyapunov方程解的估计问题,利用矩阵运算性质及Lyapunov稳定性理论,给出在结构不确定性假设下方程解的存在条件及解的上下界估计,估计结果由一个线性矩阵不等式(LMI)和两个矩阵代数Riccati方程确定．针对几种不确定性假设,进一步给出矩阵代数Riccati方程的具体形式．最后通过一个算例说明了所得结果的有效性．     

On the robust stability of linear time-invariant plants with unstructured uncertainty

We consider general families of linear time-invariant plants described by a nominal plant model with unstructured uncertainty. We show, under a rather weak assumption, that when a family of systems is not robustly stabilizable by any linear time-invariant feedback controller, then no nonlinear time-varying controller can robustly stabilize the given family.     

Representing uncertain data: models, properties, and algorithms

In general terms, an uncertain relation encodes a set of possible certain relations. There are many ways to represent uncertainty, ranging from alternative values for attributes to rich constraint languages. Among the possible models for uncertain data, there is a tension between simple and intuitive models, which tend to be incomplete, and complete models, which tend to be nonintuitive and more complex than necessary for many applications. We present a space of models for representing uncertain data based on a variety of uncertainty constructs and tuple-existence constraints. We explore a number of properties and results for these models. We study completeness of the models, as well as closure under relational operations, and we give results relating closure and completeness. We then examine whether different models guarantee unique representations of uncertain data, and for those models that do not, we provide complexity results and algorithms for testing equivalence of representations. The next problem we consider is that of minimizing the size of representation of models, showing that minimizing the number of tuples also minimizes the size of constraints. We show that minimization is intractable in general and study the more restricted problem of maintaining minimality incrementally when performing operations. Finally, we present several results on the problem of approximating uncertain data in an insufficiently expressive model.     

Type-2 Fuzzistics for Symmetric Interval Type-2 Fuzzy Sets: Part 1, Forward Problems

Interval type-2 fuzzy sets (T2 FS) play a central role in fuzzy sets as models for words and in engineering applications of T2 FSs. These fuzzy sets are characterized by their footprints of uncertainty (FOU), which in turn are characterized by their boundaries-upper and lower membership functions (MF). In this two-part paper, we focus on symmetric interval T2 FSs for which the centroid (which is an interval type-1 FS) provides a measure of its uncertainty. Intuitively, we anticipate that geometric properties about the FOU, such as its area and the center of gravities (centroids) of its upper and lower MFs, will be associated with the amount of uncertainty in such a T2 FS. The main purpose of this paper (Part 1) is to demonstrate that our intuition is correct and to quantify the centroid of a symmetric interval T2 FS, and consequently its uncertainty, with respect to such geometric properties. It is then possible, for the first time, to formulate and solve forward problems, i.e., to go from parametric interval T2 FS models to data with associated uncertainty bounds. We provide some solutions to such problems. These solutions are used in Part 2 to solve some inverse problems, i.e., to go from uncertain data to parametric interval T2 FS models (T2 fuzzistics)     

Leximin rules for bankruptcy problems under uncertainty

We model bankruptcy problems under uncertainty under the assumption that there are several possible states of nature, each of which is identified with a different bankruptcy problem. For this multi-dimensional extension of classic bankruptcy problems, we consider situations in which agents exhibit at the same time additive preferences and leximin preferences on their possible results. We propose division rules which combine different rationality principles and guarantee efficiency with respect to leximin preferences.     

Negative data in data envelopment analysis: Efficiency analysis and estimating returns to scale

The classic Data Envelopment Analysis (DEA) models developed with the assumption that all inputs and outputs are non-negative, whereas, we may face a case with negative data in the actual business world. So, the need to adapt the DEA models so that they are applicable to cases includes inputs and outputs which can take both negative and non-negative values has been an issue. It can be readily demonstrated that the assumption of constant returns to scale (CRS) is not possible in technologies under negative data. So, one of the interesting and challenge questions is how to determine the state of RTS in the presence of negative data under variable returns to scale (VRS) technology. Accordingly, in this contribution, we first address the efficiency measure and then suggest a method to discover the state of returns to scale (RTS) in the presence of negative input and output values which has not been discussed much enough so far in DEA literature. Finally, the main results are elaborated by some illustrative examples.