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INTERNATIONAL SYMPOSIUM ON ROBOTICS AND AUTOMATION 2006, SAN MIGUEL REGLA HIDALGO, M
c
i=1
N
k=1
(
ik
)
m
D
2
ikA
(4)
where U M
fc
, V
nc
and m > 1.
Denition 1. (fuzzy partition space) Let
Z ={z
1
, z
2
, ..., z
N
} be a nite set and let 2 c N be an in-
teger. The fuzzy partitioning space for data matrix Z is the set
M
fc
=
_
U
cn
ik
[0, 1] , i, k;
c
i=1
ik
= 1, k;
0 <
N
k=1
ik
< N, i
_
.
The ith row of the fuzzy partition matrix U contains values
of the ith membership function of the fuzzy subset A
i
of Z.
The next constraint inequalities [5], [6], and [7], they must
be well considered, when programming the G-K algorithm or
any derived from the basic algorithm FCM like the algorithms
e.g., c-varieties, and c-elliptotype, FMLE.
ik
[0, 1], 1 i c, 1 k N, (5)
c
i=1
ik
= 1 1 k N, (6)
0 <
N
k=1
ik
< N, 1 i c. (7)
A solution for equation [4] in the G-K algorithm is reported
in [Babu ska, 1998] and [Foulloy et al., 2003].
Constraint inequalities and equalities are considered, al-
lowing the matrix A
i
to vary with its determinant xed
corresponds to optimizing the clusters shape while its volume
remains constant:
|A
i
| =
i
,
i
> 0, i (8)
Using the Lagrange multiplier method, the following expres-
sion for A
i
is obtained:
A
i
= [
i
det (F
i
)]
1/n
F
1
i
(9)
where F
i
is the fuzzy covariance matrix of the ith cluster
dened by:
F
i
=
_
N
k=1
(
ik
)
m
(z
k
v
i
)(z
k
v
i
)
T
_
N
k=1
(
ik
)
m
_
1 (10)
where m is a fuzziness parameter (1 < m < ),
also called weighted exponent, which is proposed by the
user. In [Foulloy et al., 2003], it is illustrate via simula-
tions, the geometric cluster shape when varying m, in
[Ramos-Fern andez et al., 2006] it is shown the membership
function when m = 1.1 by using FCM algorithm.
In this paper we xed the parameters m = 2 and
i
= 1.
In [Babu ska, 1998] and [Foulloy et al., 2003] it is proposed
i
= 1, where there are not any prior knowledge, the clusters
volume and cluster shape. A drawback of the G-K algorithm
is that due to the constraints [8], The method can only nd
clusters of approximately equal volumes [Babu ska, 1998].
Remark 1. The eigen-structure of the cluster covariance
matrix provides information about the shape and orientation
of the cluster. The radio of the lengths of the clusters hyper-
ellipsoid axes is given by the radio of the square roots of
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INTERNATIONAL SYMPOSIUM ON ROBOTICS AND AUTOMATION 2006, SAN MIGUEL REGLA HIDALGO, M
1
corresponds to the eigenvalue the
longest axis. The smallest axis of the ellipsoid spanned by the
eigenvector
2
, is given by B =
2
, is the smallest linear
subspace given by the ellipsoid, V is the center of cluster. Lin-
ear subspaces of the data space are represented by at hyper-
ellipsoid, which can seen as hyperplane. The eigenvector cor-
responding to the smallest eigenvalue determines the normal
to the hyperplane, and can be used to compute optimal local
linear models from the covariance matrix [Babu ska, 1998]. In
this paper it is which to calculate the longest axis with their
corresponding eigenvalue and eigenvector. The key idea is to
take the longest axis by each cluster calculated. In this way,
consecutive three cluster can be regrouped in an automatic
way and a cubic spline can be imposed by each three linear
models (longest axis).
A common problem to solve in parametric polynomial
or spline curve from a sequence of points, is choose the
parameter values corresponding to the interpolation points
[Jetter et al., 2005], like the initial knot and nal knot. We can
used clustering methods for chose initial and nal knots. We
use the same example cited in [Babu ska, 1998]. A nonlinear
SISO system for didactic analysis and easy comprehension is
review. The system is the univariate nonlinear function given
by:
y = 0.0001 sin(0.001x
2
) x
3
+, x [0, 100] (11)
where N(0, 25) is a normally distributed random noise.
Remark 2. The G-K algorithm or any other derived from
the FCM basic algorithm , gives the numbers indices aleatory
ordered on the centers of the clusters. Since the randomly
initialization on the partition matrix. As the process of search
of the best centers clusters is iterative, it nds the centers
by the best similarity between the database, and the rst
centers detected are the best initialized or the best grouped.
It is necessary to ordered the centers, with respect to an
independent variable. The rst center of the clustering has to
be the nearest of the initial data.
See Figure 2, the SISO system from the equation [11]
is classied with G-K algorithm with ve clusters. Each
cluster correspond a linear model. The slope by each model
is obtained by using the eigenvalues and the eigenvectors.
The pairs (k1, k2), (k3, k4),...,(k9, k10) are the coordinates
corresponding to the eigenvalues and their respective unitary
eigenvector, c
1
, c
2
, ..., c
5
are the centers of clusters. By taking
these coordinates, it is delimited the knots in the interpolation
using cubic spline. The rst cubic spline correspond since the
rst cluster (c
1
) up to the third cluster (c
3
). The subsequent
cubic spline have to be overlapped, e.g., the third cluster with
the fourth cluster. Then the second spline goes from the third
cluster up to the ve cluster (c
5
). Observe that an important
reduction (50 percent) in the rule-base is obtained, by using
cubic spline consequents.
0 10 20 30 40 50 60 70 80 90 100
60
40
20
0
20
40
60
80
100
x
y
k4 k1 k2 k3 k5
c2
c1
k7 k6
k8 k9 k10
c3
c4
c5
Fig. 2. Five local linear models using G-K algorithm.
Algorithm 1 (Gustafson-Kessel). Given the data set Z,
choose the number of cluster 1 < c < N, the weighting
exponent m > 1 and the termination tolerance > 0. Initialize
the partition matrix randomly, such that U
0
M
fc
Repeat for
l = 1, 2, ... Step 1: Compute clusters prototypes, 1 i c:
v
l
i
=
_
N
k=1
_
l1
ik
_
m
z
k
_
N
k=1
_
l1
ik
_
m
_
1
(12)
Step 2: Compute the cluster covariance matrices, 1 i
c:
F
i
=
_
N
k=1
(
l1
ik
)
m
(z
k
v
l
i
)(z
k
v
l
i
)
T
_
N
k=1
(
l1
ik
)
m
_
1 (13)
Step 3: Compute the distances, 1 i c, 1 k N:
D
2
ikAi
= (z
k
v
l
i
)
T
_
i
det(F
i
)
1/n
F
1
i
_
(z
k
v
l
i
) (14)
Step 4: Update the partition matrix, if (D
ikA
i
> 0), for
(1 i c, 1 k N):
l
ik
=
_
c
j=1
_
D
ikAi/
D
jkA
i
_
2
/
(m1)
_1
(15)
otherwise
l
ik
= 0 if D
ikA
i
> 0, and
l
ik
[0, 1] with
c
i=1
l
ik
= 1.
Until
_
_
U
l
U
l1
_
_
<
III. INTERPOLATION CUBIC SPLINE ALGORITHM, AND
CUBIC CONSEQUENT
In this paper we have integrated two well known technics:
fuzzy clustering, and cubic spline interpolation. The goal is to
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INTERNATIONAL SYMPOSIUM ON ROBOTICS AND AUTOMATION 2006, SAN MIGUEL REGLA HIDALGO, M
_
c(x
K
i
1
)
.
.
.
c(x
K
i
2
)
a(x
K
i
1
)
.
.
.
a(x
K
i
2
)
d(x
K
i
1
)
.
.
.
d(x
K
i
2
)
b(x
K
i
1
)
.
.
.
b(x
K
i
2
)
_
_ (24)
The problem can be solved analytically by the ordinary linear
least squares (LS) method:
= (
T
)
1
T
X, X
_
x
K
i
1
, x
K
i
2
_
. (25)
Step 3: Cubic splines polynomials: The cubic polynomials
are obtained by the mathematical expressions [16], [22], and
by algebraic manipulation. In Figure 4, show two cubic poly-
0 10 20 30 40 50 60 70 80 90 100
80
60
40
20
0
20
40
60
80
100
x
cubic Spline 1
cubic Spline 2
Fig. 4. Two cubic models, with smoothing.
nomials that approximated the real output from the equation
[11]. Where, the equation [26] is the cubic spline 1, and
equation [27] cubic spline 2, by using the Algorithm 1 and
2. The approach proposed is smoothing, respect to the real
output.
y
1
s
= 0.0010 x
3
+ 0.0814 x
2
1.453 x + 12.858. (26)
y
2
s
= 0.0252 x
3
+ 5.919 x
2
455.131 x + 11476. (27)
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INTERNATIONAL SYMPOSIUM ON ROBOTICS AND AUTOMATION 2006, SAN MIGUEL REGLA HIDALGO, M
Membership
function cubic spline 1
Membership
function cubic spline 2
Fig. 5. The trapezoidal membership functions, for the fuzzy modeling.
0 20 40 60 80 100
100
50
0
50
100
x
y
0 20 40 60 80 100
40
20
0
20
40
x
e
cubic spline
fuzzy modeling
Fig. 6. Validation of the fuzzy modeling, the real output and the model
proposed (up), the error calculated by equation [32](down).
IV. THE FUZZY MODELING
By using the results computed by the Algorithm 1, see
Figure 3, taking the knots, gravity centers and eigenvalues,
the trapezoidal membership functions (TRMF) are built. A
TRMF is calculated by four parameters (a,b,c,d), it is cited
Matlab
c
technical computing software. The rst TRMF is
dened by the parameters: a = b = x
1
, c = c
3
, and d = k6.
The parameters for the second TRMF for the fuzzy modeling
example are: a = c
3
, b = k6, c = d = x
N
. Note that in each
region overlapped by two trapezoidal membership functions,
the sum of the membership functions is one, see Fig. 5.
A. The Defuzzycation
The approach of the weighted average of the rule conse-
quents, is well known for the T-S modeling. One advantage
by using weighted average is their computational simplicity
in the implementation. This criterion is particulary important
for fuzzy control because controllers operate in real time
[Wang, 1997]. The equation [28] solve the weighted average
of the rules.
y =
_
M
i=1
i
(x) y
i
s
_
M
i=1
i
(x)
_
1
(28)
where
i
(x) is the degree of activation of the ith rule.
i
(x) =
n
j=1
A
ij
(x
j
), i = 1, 2, ..., M, (29)
where x
j
is the jth input vector to the system, M is the number
of rule, y
i
s
is the cubic polynomial computed,
A
ij
(x
j
)
[0, 1] is the membership function of the fuzzy set
A
ij
in the
antecedent of the rule R
i
, see equation [1]. The rule-based by
the fuzzy model , consist of two rules:
R
1
: If x is region 1 Then y
1
s
(30)
R
2
: If x is region 2 Then y
2
s
(31)
The validation is achieved by different sets of data input/output
(see Figure 6). The error is obtained with the following
equation:
e = y y, (32)
where y is the approximated output, and y is the real output.
The approximation by the fuzzy modeling proposed in this
paper, allow us to obtain: smoothing submodels, transparent
rule-based models, and analytical consequents.
V. CONCLUDING REMARKS
We have presented a modeling method for fuzzy rule-based
models from systems SISO measurements data, which provide
a good accuracy as well transparency with smoothing trend
and low complexity of the resulting rule base. The approach
has been applied on a modeling of nonlinear system problem
from the literature. Our thought, that the cubic consequents
catch the nonlinear nature of the phenomena better than linear
consequents. Our approach preservers some characteristics to
derived further information (rst and second derivative). A
drawback in our approach, is that linear control techniques can
not be used natural straight forward. Then, a novel search area
points head start, for an operational research on the schemes
of fuzzy modeling for control, using this modeling approach.
Our aim is to obtain a new methodology for fuzzy modeling
for control, with an easy implementation in systems on real
time.
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interpolation. Elsevier Science, Germany.
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INTERNATIONAL SYMPOSIUM ON ROBOTICS AND AUTOMATION 2006, SAN MIGUEL REGLA HIDALGO, M