Wall-following of mobile robot based on fuzzy genetic algorithm to linear interpolating

Traditional fuzzy controller has some disadvantages, such as inferiorly adaptability due to the invariable membership function parameters and too many subjective factors. So in this paper, we firstly put forward a new method to fuzzy inference based on the idea of linear interpolating. This method overcomes the shortcoming of conventional fuzzy controller such as the character of multi-relay and the conflict of rule numbers and real-time. Then we use genetic algorithm to off-line optimize the membership function parameters of fuzzy controller, which is used in the controlling course of mobile robot following straight wall. The result shows the optimizing control strategy is more effective in the aspect of following precision than the traditional fuzzy controller.     

H∞ estimation for fuzzy membership function optimization

Given a fuzzy logic system, how can we determine the membership functions that will result in the best performance? If we constrain the membership functions to a specific shape (e.g., triangles or trapezoids) then each membership function can be parameterized by a few variables and the membership optimization problem can be reduced to a parameter optimization problem. The parameter optimization problem can then be formulated as a nonlinear filtering problem. In this paper we solve the nonlinear filtering problem using H_∞ state estimation theory. However, the membership functions that result from this approach are not (in general) sum normal. That is, the membership function values do not add up to one at each point in the domain. We therefore modify the H_∞ filter with the addition of state constraints so that the resulting membership functions are sum normal. Sum normality may be desirable not only for its intuitive appeal but also for computational reasons in the real time implementation of fuzzy logic systems. The methods proposed in this paper are illustrated on a fuzzy automotive cruise controller and compared to Kalman filtering based optimization.     

典型模糊控制器的隶属函数设计及分析

基于一类sum-product模糊推理算子、重心解模糊化法和单点输出的典型模糊控制器的解析结构推导,深入分析了输入隶属函数对模糊控制系统性能的影响,提出了隶属函数的系统化设计方法.并在此基础上,设计了一种具有等差间距因子的三角形隶属函数并推导了其模糊控制器的解析结构,仿真结果证明了该设计的有效性.     

H∞ estimation for fuzzy membership function optimization

Given a fuzzy logic system, how can we determine the membership functions that will result in the best performance? If we constrain the membership functions to a specific shape (e.g., triangles or trapezoids) then each membership function can be parameterized by a few variables and the membership optimization problem can be reduced to a parameter optimization problem. The parameter optimization problem can then be formulated as a nonlinear filtering problem. In this paper we solve the nonlinear filtering problem using H_∞ state estimation theory. However, the membership functions that result from this approach are not (in general) sum normal. That is, the membership function values do not add up to one at each point in the domain. We therefore modify the H_∞ filter with the addition of state constraints so that the resulting membership functions are sum normal. Sum normality may be desirable not only for its intuitive appeal but also for computational reasons in the real time implementation of fuzzy logic systems. The methods proposed in this paper are illustrated on a fuzzy automotive cruise controller and compared to Kalman filtering based optimization.     

基于灰色关联分析的模糊支持向量机中隶属度的确定

本文用灰色关联分析来替代模糊隶属度的求解,提出了一种新的有效地刻画样本不确定性的隶属度计算方法,理论上表明它是解决模糊支持向量机方法中一般使用特征空间中样本与类中心之间的距离关系构建隶属度函数的不足的方法之一,在一些特定条件下分类性能要强一些.     

Stable fuzzy logic design of point-to-point control for mechanical systems

An approach for the development of fuzzy point-to-point control laws for second-order mechanical systems is presented. Asymptotic stability of the resulting closed-loop system is proved using Lyapunov stability theory. Closed-loop performance and robustness are quantified in terms of the parameters of membership functions. As opposed to most existing fuzzy control laws, the closed-loop stability of the proposed controller does not depend on the knowledge of the entire dynamics. Moreover, the approach does not require the plant to be open-loop stable. The proposed approach is demonstrated on design and simulation study of a fuzzy controller for a two-link robotic arm.     

Piecewise parametric polynomial fuzzy sets

We present a scheme for tractable parametric representation of fuzzy set membership functions based on the use of a recursive monotonic hierarchy that yields different polynomial functions with different orders. Polynomials of the first order were found to be simple bivalent sets, while the second order polynomials represent the typical saw shape triangles. Higher order polynomials present more diverse membership shapes. The approach demonstrates an enhanced method to manage and fit the profile of membership functions through the access to the polynomials order, the number and the multiplicity of anchor points as wells as the uniformity and periodicity features used in the approach. These parameters provide an interesting means to assist in fitting a fuzzy controller according to system requirements. Besides, the polynomial fuzzy sets have tractable characteristics concerning the continuity and differentiability that depend on the order of the polynomials. Higher order polynomials can be differentiated as many times as the order of the polynomial less the multiplicity of the anchor points. An algorithmic optimization approach using the steepest descent method is introduced for fuzzy controller tuning. It was shown that the controller can be optimized to model a certain output within small number of iterations and very small error margins. The mathematics generated by the approach is consistent and can be simply generalized to standard applications. The recursive propagation was noticed for its clarity and ease of calculations. Further, the degree of association between the sets is not limited to the neighbors as in traditional applications; instead, it may extend beyond.Such approach can be useful in dynamic fuzzy sets for adaptive modeling in view of the fact that the shape parameters can be easily altered to get different profiles while keeping the math unchanged. Hypothetically, any shape of membership functions under the partition of unity constraint can be produced. The significance of the mentioned characteristics of such modeling can be observed in the field of combinatorial and continuous parameter optimization, automated tuning, optimal fuzzy control, fuzzy-neural control, membership function fitting, adaptive modeling, and many other fields that require customized as well as standard fuzzy membership functions. Experimental work of different scenarios with diverse fuzzy rules and polynomial sets has been conducted to verify and validate our results.     

一类广义模糊控制系统及其特征

在具有再生核的希尔伯特空间中(简记为r．k.h，以下同)，以一组修正化的再生核作为输入空间的隶属函数，建立了一种广义的模糊控制系统，在一定条件下，该系统事实上包含着是r．k.h中函数的最佳插值逼近．就对未知控制曲线的逼近而言，典型的模糊控制器^[1]不可能比这种广义的模糊控制系统做得更好．广义的模糊系统具有以下优点：对样本的学习一次完成，克服了一般模糊控制器学习时所面临的解一个非线性最优化问题的困难；能估计出对待逼近实际控制函数误差的一个确定的上界；从Kosko B所揭示的模糊逼近本质特征^[2]，即确定性的角度来看它也是最优的．     

A new hybrid algorithm based on optimal fuzzy controller in multimachine power system

In this article, a new methodology based on fuzzy proportional‐integral‐derivative (PID) controller is proposed to damp low frequency oscillation in multimachine power system where the parameters of proposed controller are optimized offline automatically by hybrid genetic algorithm (GA) and particle swarm optimization (PSO) techniques. This newly proposed method is more efficient because it cope with oscillations and different operating points. In this strategy, the controller is tuned online from the knowledge base and fuzzy interference. In the proposed method, for achieving the desired level of robust performance exact tuning of rule base and membership functions (MF) are very important. The motivation for using the GA and PSO as a hybrid method are to reduce fuzzy effort and take large parametric uncertainties in to account. This newly developed control strategy mixed the advantage of GA and PSO techniques to optimally tune the rule base and MF parameters of fuzzy controller that leads to a flexible controller with simple structure while is easy to implement. The proposed method is tested on three machine nine buses and 16 machine power systems with different operating conditions in present of disturbance and nonlinearity. The effectiveness of proposed controller is compared with robust PSS that tune using PSO and the fuzzy controller which is optimized rule base by GA through figure of demerit and integral of the time multiplied absolute value of the error performance indices. The results evaluation shows that the proposed method achieves good robust performance for a wide range of load change in the presents of disturbance and system nonlinearities and is superior to the other controllers. © 2014 Wiley Periodicals, Inc. Complexity 21: 78–93, 2015     

Chaos synchronization using fuzzy logic controller

The design of a rule-based controller for a class of master-slave chaos synchronization is presented in this paper. In traditional fuzzy logic control (FLC) design, it takes a long time to obtain the membership functions and rule base by trial-and-error tuning. To cope with this problem, we directly construct the fuzzy rules subject to a common Lyapunov function such that the master–slave chaos systems satisfy stability in the Lyapunov sense. Unlike conventional approaches, the resulting control law has less maximum magnitude of the instantaneous control command and it can reduce the actuator saturation phenomenon in real physic system. Two examples of Duffing–Holmes system and Lorenz system are presented to illustrate the effectiveness of the proposed controller.     

Type-2 T–S fuzzy impulsive control of nonlinear systems

A novel impulsive control approach based on interval Type-2 T–S fuzzy model has been presented for nonlinear systems in this paper. This approach makes up for the drawback of Type-1 fuzzy impulsive control, which cannot fully handle the uncertainties in describing the complex nonlinear systems by Type-1 fuzzy membership functions and cannot give rigorous fuzzy rules. Further more, this approach uses the “broad band” effect of the Type-2 membership functions to solve the noise of training data and exterior disturbance of the Type-1 fuzzy impulsive control. By using Lyapunov theory and Lipschitz condition, which is combined with integrated approaches such as comparison methods and linear matrix inequalities, the Type-2 fuzzy impulsive controller is designed and the general asymptotical stability analysis of the systems is given. Finally, the simulation of the inverted pendulum model demonstrates the validity and superiority of the proposed method by easily determining the membership functions and choosing minimum number of fuzzy rules and the method can handle random disturbance and data uncertainties very well.     

模糊Delta算子系统的鲁棒镇定

研究一类基于Delta算子描述的T-S模糊模型状态反馈镇定设计问题。首先将全局模糊模型按隶属函数划分成若干子空间,并被表示成不确定系统的形式;采用分段Lyapunov函数法,得到鲁棒稳定化控制律存在的充分条件．该条件被进一步等价表示成一组线性矩阵不等式的可解性问题。克服了以往设计法中需要求解一公共正定矩阵P的不足,也无需求解繁琐的Riccati方程。所得结果可将连续和离散模糊系统的有关结论统一到Delta算子框架内。     

Application of Fuzzy Linear Programming in Production Planning

In this paper, a new fuzzy linear programming based methodology using a specific membership function, named as modified logistic membership function is proposed. The modified logistic membership function is first formulated and its flexibility in taking up vagueness in parameters is established by an analytical approach. This membership function is tested for its useful performance through an illustrative example by employing fuzzy linear programming. The developed methodology of FLP has provided a confidence in applying to real life industrial production planning problem. This approach of solving industrial production planning problem can have feed back within the decision maker, the implementer and the analyst. In such case this approach can be called as IFLP (Interactive Fuzzy Linear Programming). There is a possibility to design the self organizing of fuzzy system for the mix products selection problem in order to find the satisfactory solution. The decision maker, the analyst and the implementer can incorporate their knowledge and experience to obtain the best outcome.     

Reinforcement learning in neurofuzzy traffic signal control

A fuzzy traffic signal controller uses simple “if–then” rules which involve linguistic concepts such as medium or long, presented as membership functions. In neurofuzzy traffic signal control, a neural network adjusts the fuzzy controller by fine-tuning the form and location of the membership functions. The learning algorithm of the neural network is reinforcement learning, which gives credit for successful system behavior and punishes for poor behavior; those actions that led to success tend to be chosen more often in the future. The objective of the learning is to minimize the vehicular delay caused by the signal control policy. In simulation experiments, the learning algorithm is found successful at constant traffic volumes: the new membership functions produce smaller vehicular delay than the initial membership functions.     

Competitive algorithms for the clustering of noisy data

In this paper, we consider the issue of clustering when outliers exist. The outlier set is defined as the complement of the data set. Following this concept, a specially designed fuzzy membership weighted objective function is proposed and the corresponding optimal membership is derived. Unlike the membership of fuzzy c-means, the derived fuzzy membership does not reduce with the increase of the cluster number. With the suitable redefinition of the distance metric, we demonstrate that the objective function could be used to extract c spherical shells. A hard clustering algorithm alleviating the prototype under-utilization problem is also derived. Artificially generated data are used for comparisons.     

AQM scheme design for TCP network via Takagi‐Sugeno fuzzy method

This paper proposes a novel T‐S fuzzy control method instead of the traditional linear system control method to improve the TCP network performance. Thus a TCP network can be modeled as a T‐S fuzzy system, and by use of linear matrix inequality method and cone complementarity linearization algorithm, a fuzzy state feedback controller is provided while considering the problem of the asynchronous membership grades between the controller and the plant. Simulation results are presented to show that the proposed control approach can guarantee the asymptotical stability of the studied system and the desired queue size. © 2016 Wiley Periodicals, Inc. Complexity 21: 606–612, 2016     

基于模糊中值滤波的椒盐噪声去除方法

研究基于模糊中值滤波的椒盐噪声去除方法。通过比较图像各像素点的灰度值,定义基于图像梯度信息的各点被判别为噪声点的模糊隶属函数。利用此模糊隶属函数对中值滤波方法进行加权,得到了一种加权中值滤波器,可实现边缘处椒盐噪声的有效滤除。讨论这种模糊加权方法与其它先进滤波方法的结合途径,指出了其推广应用价值。最后利用数值实验验证本文方法的有效性,结果表明,相比于自适应中值滤波方法,本文方法得到的滤波图像在峰值信噪比及结构相似度方面均有明显提高。     

Real-time stable self-learning FNN controller using genetic algorithm

A kind of real-time stable self-learning fuzzy neural network (FNN) control system is proposed in this paper. The control system is composed of two parts: (1) A FNN controller which use genetic algorithm (GA) to search optimal fuzzy rules and membership functions for the unknown controlled plant; (2) A supervisor which can guarantee the stability of the control system during the real-time learning stage, since the GA has some random property which may cause control system unstable. The approach proposed in this paper combine a priori knowledge of designer and the learning ability of FNN to achieve optimal fuzzy control for an unknown plant in real-time. The efficiency of the approach is verified by computer simulation.     

Stability analysis of sampled-data fuzzy controller for nonlinear systems based on switching T–S fuzzy model

This paper investigates the system stability of a sampled-data fuzzy-model-based control system, formed by a nonlinear plant and a sampled-data fuzzy controller connected in a closed loop. The sampled-data fuzzy controller has an advantage that it can be implemented using a microcontroller or a digital computer to lower the implementation cost and time. However, discontinuity introduced by the sampling activity complicates the system dynamics and makes the stability analysis difficult compared with the pure continuous-time fuzzy control systems. Moreover, the favourable property of the continuous-time fuzzy control systems which is able to relax the stability analysis result vanishes in the sampled-data fuzzy control systems. A Lyapunov-based approach is employed to derive the LMI-based stability conditions to guarantee the system stability. To facilitate the stability analysis, a switching fuzzy model consisting of some local fuzzy models is employed to represent the nonlinear plant to be controlled. The comparatively less strong nonlinearity of each local fuzzy model eases the satisfaction of the stability conditions. Furthermore, membership functions of both fuzzy model and sampled-data fuzzy controller are considered to alleviate the conservativeness of the stability analysis result. A simulation example is given to illustrate the merits of the proposed approach.     

Time-cost trade-off analysis of project networks in fuzzy environments

This paper proposes a novel approach for time-cost trade-off analysis of a project network in fuzzy environments. Different from the results of previous studies, in this paper the membership function of the fuzzy minimum total crash cost is constructed based on Zadeh’s extension principle and fuzzy solutions are provided. A pair of two-level mathematical programs parameterized by possibility level α is formulated to calculate the lower and upper bounds of the fuzzy minimum total crash cost at α. By enumerating different values of α, the membership function of the fuzzy minimum total crash cost is constructed, and the corresponding optimal activity time for each activity is also obtained at the same time. An example of time-cost trade-off problem with several fuzzy parameters is solved successfully to demonstrate the validity of the proposed approach. Since the minimum total crash cost is expressed by a membership function rather than by a crisp value, the fuzziness of parameters is conserved completely, and more information is provided for time-cost trade-off analysis in project management. The proposed approach also can be applied to time-cost trade-off problems with other characteristics.