Fuzzy Controllers Handbook: How to Design Them, How They Work

Contents......Page 5
Foreword......Page 9
Preface......Page 11
Acknowledgements......Page 13
Introduction......Page 15
PART I: HOW DOES IT WORK? OR THE THEORY OF FUZZY CONTROL......Page 22
Why do we need this new theory, what are the advantages of fuzzy control?......Page 24
Where does fuzzy logic come from?......Page 26
What are the main areas of fuzzy logic applications?......Page 30
Fuzzy sets versus crisp sets......Page 40
Operations on fuzzy sets......Page 51
Extension principle......Page 55
Fuzzy numbers......Page 58
Arithmetic operations with intervals of confidence......Page 59
Arithmetic operations with fuzzy numbers......Page 62
Linguistic variables and hedges......Page 65
Fuzzy relations......Page 72
The reasons to apply fuzzy controllers......Page 80
Mamdani-type fuzzy processing......Page 82
Linguistic variables......Page 84
Fuzzy rules firing......Page 86
Calculating the applicability degree......Page 88
Clipping and scaling a fuzzy output......Page 89
Sugeno-type fuzzy processing......Page 91
Fuzzy controller operation a......Page 94
Structure of a simple open-loop fuzzy controller......Page 95
Fuzzy controllers as a part of a feedback system......Page 99
PD-like fuzzy controller......Page 100
Rules table notation......Page 102
PI-like fuzzy controller......Page 104
PID-like fuzzy controller......Page 107
Combination of fuzzy and conventional PID controllers......Page 111
Stability and performance evaluation by observing the response......Page 114
Stability and performance indicators......Page 117
Stability evaluation by observing the trajectory......Page 119
Hierarchical fuzzy controllers......Page 120
PART II: HOW TO MAKE IT WORK OR DESIGN AND IMPLEMENTATION OF FUZZY CONTROLLERS......Page 126
Fuzzy autopilot for a small marine vessel......Page 128
Smart heater control......Page 133
Active noise control......Page 138
Iterative nature of a fuzzy controller design process......Page 142
What is a scaling factor?......Page 145
Where should the tuning start?......Page 147
Distributing membership functions on the universe of discourse......Page 152
An evaluation of the membership function width......Page 153
Where do rules come from?......Page 157
How do we get rules?......Page 159
How do we check if the rules are OK?......Page 160
Centre-of-area/gravity......Page 168
Centre-of-largest-area......Page 169
First-of-maxima/last-of-maxima......Page 170
Mean-of-maxima......Page 171
Compare different defuzzification procedures......Page 172
What do we need adjustments for?......Page 174
Performance/robustness problem and solutions......Page 175
Adaptive fuzzy controllers......Page 177
Features of different controller types......Page 179
Learning fuzzy controllers......Page 180
Off-line tuning of the output scaling factors......Page 181
On-line tuning of the input and output scaling factors......Page 182
What is a neural network?......Page 187
ANN structure......Page 188
ANN types......Page 192
ANN application in fuzzy controller design......Page 195
ANFIS architecture......Page 196
Adaptive neuro-fuzzy controller......Page 197
How does it work?......Page 201
GA and EA application in fuzzy controller design......Page 203
Fuzzy technology products classification......Page 208
Main features of the fuzzy software tools......Page 211
Realisation examples......Page 212
How do we implement a fuzzy controller?......Page 222
Implementation on a digital general purpose processor......Page 223
Implementation on a digital specialised processor......Page 226
Specialised processor development system......Page 230
Implementation on analog devices......Page 232
Integration of fuzzy and conventional control hardware......Page 235
PART III: WHAT ELSE CAN I USE? OR SUPPLEMENTARY INFORMATION FOR TEACHING AND LEARNING......Page 238
When not to apply fuzzy controllers......Page 240
Fuzzy controller operation......Page 241
Fuzzy controller structure and parameter choice......Page 244
How to find membership functions......Page 246
How to implement a fuzzy controller......Page 247
How to test a fuzzy controller......Page 248
How to fix a fuzzy controller......Page 249
How to choose a design package......Page 250
9. Problems and assignment topics......Page 260
10. Design projects......Page 274
Glossary......Page 288
Bibliography......Page 294
Index......Page 304