Introduction to Fuzzy Logic

Control

Andrew L. Nelson

Visiting Research Faculty

University of South Florida
 Overview
• References • Outline to the left in green
• Introduction
• Crisp Variables • Current topic in yellow
• Fuzzy Sets
• Linguistic
Variables • References
• Membership
Functions • Introduction
• Fuzzy Logic
• Fuzzy OR
• Crisp Variables
•
•
Fuzzy AND
Example
• Fuzzy Variables
• Fuzzy Control • Fuzzy Logic Operators
•
•
Variables
• Rules Fuzzy Control
•
•
Fuzzification
• Defuzzification Case Study
• Summary

2/9/2004 Fuzzy Logic 2

 References
• References
• Introduction • L. Zadah, “Fuzzy sets as a basis of
•
•
Crisp Variables
Fuzzy Sets possibility” Fuzzy Sets Systems,
• Linguistic Vol. 1, pp3-28, 1978.
Variables
• Membership
Functions • T. J. Ross, “Fuzzy Logic with
• Fuzzy Logic
• Fuzzy OR Engineering Applications”,
• Fuzzy AND
• Example McGraw-Hill, 1995.
• Fuzzy Control
•
•
Variables
Rules
• K. M. Passino, S. Yurkovich,
•
•
Fuzzification
Defuzzification
"Fuzzy Control" Addison Wesley,
• Summary 1998.
2/9/2004 Fuzzy Logic 3
 Introduction
• References
• Introduction • Fuzzy logic:
• Crisp Variables • A way to represent variation or imprecision in logic
• Fuzzy Sets • A way to make use of natural language in logic
• Linguistic
Variables • Approximate reasoning
• Membership
Functions • Humans say things like "If it is sunny and
• Fuzzy Logic
• Fuzzy OR
warm today, I will drive fast"
•
•
Fuzzy AND
Example • Linguistic variables:
• Fuzzy Control • Temp: {freezing, cool, warm, hot}
• Variables
• Rules • Cloud Cover: {overcast, partly cloudy, sunny}
•
•
Fuzzification
Defuzzification
• Speed: {slow, fast}
• Summary

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 Crisp (Traditional) Variables
• References • Crisp variables represent precise
• Introduction quantities:
• Crisp Variables
• Fuzzy Sets • x = 3.1415296
• Linguistic
Variables • A {0,1}
• Membership

•
Functions
Fuzzy Logic
• A proposition is either True or False
• Fuzzy OR • ABC
• Fuzzy AND

•
• Example
Fuzzy Control
• King(Richard)  Greedy(Richard) 
•
•
Variables
Rules
Evil(Richard)
•
•
Fuzzification
Defuzzification • Richard is either greedy or he isn't:
• Summary
• Greedy(Richard) {0,1}
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 Fuzzy Sets
•
•
References
Introduction • What if Richard is only somewhat
• Crisp Variables
• Fuzzy Sets
greedy?
• Linguistic
Variables • Fuzzy Sets can represent the degree
• Membership
Functions to which a quality is possessed.
• Fuzzy Logic
• Fuzzy OR • Fuzzy Sets (Simple Fuzzy Variables)
• Fuzzy AND
• Example have values in the range of [0,1]
• Fuzzy Control
•
•
Variables
Rules
• Greedy(Richard) = 0.7
• Fuzzification

•
•
Summary
Defuzzification • Question: How evil is Richard?
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 Fuzzy Linguistic Variables
•
•
References
Introduction
• Fuzzy Linguistic Variables are used to
• Crisp Variables represent qualities spanning a particular
• Fuzzy Sets
• Linguistic
spectrum
•
Variables
Membership
• Temp: {Freezing, Cool, Warm, Hot}
Functions
• Fuzzy Logic • Membership Function
•
•
Fuzzy OR
Fuzzy AND • Question: What is the temperature?
• Example
• Fuzzy Control • Answer: It is warm.
• Variables
• Rules • Question: How warm is it?
• Fuzzification
• Defuzzification
• Summary

2/9/2004 Fuzzy Logic 7

 Membership Functions
• References
• Introduction • Temp: {Freezing, Cool, Warm, Hot}
• Crisp Variables
• Fuzzy Sets • Degree of Truth or "Membership"
• Linguistic
Variables
• Membership Freezing Cool Warm Hot
Functions 1
• Fuzzy Logic
• Fuzzy OR
• Fuzzy AND
• Example
• Fuzzy Control
• Variables
• Rules
• Fuzzification 0
• Defuzzification 10 30 50 70 90 110
• Summary
Temp. (F°)
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 Membership Functions
• References
• Introduction • How cool is 36 F° ?
• Crisp Variables
• Fuzzy Sets
• Linguistic
Variables
• Membership Freezing Cool Warm Hot
Functions 1
• Fuzzy Logic
• Fuzzy OR
• Fuzzy AND
• Example
• Fuzzy Control
• Variables
• Rules
• Fuzzification 0
• Defuzzification 10 30 50 70 90 110
• Summary
Temp. (F°)
2/9/2004 Fuzzy Logic 9
 Membership Functions
• References
• Introduction • How cool is 36 F° ?
• Crisp Variables
• Fuzzy Sets • It is 30% Cool and 70% Freezing
• Linguistic
Variables
• Membership Freezing Cool Warm Hot
Functions 1
• Fuzzy Logic
• Fuzzy OR 0.7
• Fuzzy AND
• Example
• Fuzzy Control
• Variables 0.3
• Rules
• Fuzzification 0
• Defuzzification 10 30 50 70 90 110
• Summary
Temp. (F°)
2/9/2004 Fuzzy Logic 10
 Fuzzy Logic
• References
• Introduction • How do we use fuzzy membership
• Crisp Variables
• Fuzzy Sets functions in predicate logic?
• Linguistic
Variables • Fuzzy logic Connectives:
• Membership
Functions • Fuzzy Conjunction, 
• Fuzzy Logic
• Fuzzy OR • Fuzzy Disjunction, 
• Fuzzy AND

•
• Example
Fuzzy Control
• Operate on degrees of membership
•
•
Variables
Rules
in fuzzy sets
• Fuzzification
• Defuzzification
• Summary

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 Fuzzy Disjunction
• References
• Introduction • AB max(A, B)
• Crisp Variables
• Fuzzy Sets • AB = C "Quality C is the
• Linguistic
Variables disjunction of Quality A and B"
• Membership A B
Functions
1 1
• Fuzzy Logic
• Fuzzy OR 0.75
• Fuzzy AND
• Example
0.375
• Fuzzy Control
• Variables
• Rules 0 0
• Fuzzification

•
•
Summary
Defuzzification
• (AB = C)  (C = 0.75)
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 Fuzzy Conjunction
• References
• Introduction • AB min(A, B)
• Crisp Variables
• Fuzzy Sets • AB = C "Quality C is the
• Linguistic
Variables conjunction of Quality A and B"
• Membership A B
Functions
1 1
• Fuzzy Logic
• Fuzzy OR 0.75
• Fuzzy AND
• Example
0.375
• Fuzzy Control
• Variables
• Rules 0 0
• Fuzzification

•
•
Summary
Defuzzification
• (AB = C)  (C = 0.375)
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 Example: Fuzzy Conjunction
• References Calculate AB given that A is .4 and B is 20
• Introduction
• Crisp Variables A B
1 1
• Fuzzy Sets
• Linguistic
Variables
• Membership
Functions
• Fuzzy Logic
• Fuzzy OR 0 0
• Fuzzy AND .1 .2 .3 .4 .5 .6 .7 .8 .9 1 5 10 15 20 25 30 35 40
• Example
• Fuzzy Control
• Variables
• Rules
• Fuzzification
• Defuzzification
• Summary

2/9/2004 Fuzzy Logic 14

 Example: Fuzzy Conjunction
• References Calculate AB given that A is .4 and B is 20
• Introduction
• Crisp Variables A B
1 1
• Fuzzy Sets
• Linguistic
Variables
• Membership
Functions
• Fuzzy Logic
• Fuzzy OR 0 0
• Fuzzy AND .1 .2 .3 .4 .5 .6 .7 .8 .9 1 5 10 15 20 25 30 35 40
• Example
• Fuzzy Control • Determine degrees of membership:
• Variables
• Rules
• Fuzzification
• Defuzzification
• Summary

2/9/2004 Fuzzy Logic 15

 Example: Fuzzy Conjunction
• References Calculate AB given that A is .4 and B is 20
• Introduction
• Crisp Variables A B
1 1
• Fuzzy Sets
• Linguistic
Variables 0.7
• Membership
Functions
• Fuzzy Logic
• Fuzzy OR 0 0
• Fuzzy AND .1 .2 .3 .4 .5 .6 .7 .8 .9 1 5 10 15 20 25 30 35 40
• Example
• Fuzzy Control • Determine degrees of membership:
•
•
Variables
Rules • A = 0.7
• Fuzzification
• Defuzzification
• Summary

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 Example: Fuzzy Conjunction
• References Calculate AB given that A is .4 and B is 20
• Introduction
• Crisp Variables A B
1 1
• Fuzzy Sets 0.9
• Linguistic
Variables 0.7
• Membership
Functions
• Fuzzy Logic
• Fuzzy OR 0 0
• Fuzzy AND .1 .2 .3 .4 .5 .6 .7 .8 .9 1 5 10 15 20 25 30 35 40
• Example
• Fuzzy Control • Determine degrees of membership:
•
•
Variables
Rules • A = 0.7 B = 0.9
• Fuzzification
• Defuzzification
• Summary

2/9/2004 Fuzzy Logic 17

 Example: Fuzzy Conjunction
• References Calculate AB given that A is .4 and B is 20
• Introduction
• Crisp Variables A B
1 1
• Fuzzy Sets 0.9
• Linguistic
Variables 0.7
• Membership
Functions
• Fuzzy Logic
• Fuzzy OR 0 0
• Fuzzy AND .1 .2 .3 .4 .5 .6 .7 .8 .9 1 5 10 15 20 25 30 35 40
• Example
• Fuzzy Control • Determine degrees of membership:
•
•
Variables
Rules • A = 0.7 B = 0.9
• Fuzzification
• Defuzzification • Apply Fuzzy AND
• Summary
• AB = min(A, B) = 0.7
2/9/2004 Fuzzy Logic 18
 Fuzzy Control
• References
• Introduction • Fuzzy Control combines the use of
• Crisp Variables
• Fuzzy Sets fuzzy linguistic variables with fuzzy
• Linguistic logic
Variables
• Membership
Functions • Example: Speed Control
• Fuzzy Logic
• Fuzzy OR • How fast am I going to drive today?
• Fuzzy AND

•
• Example
Fuzzy Control
• It depends on the weather.
•
• Disjunction of Conjunctions
Variables
• Rules
• Fuzzification
• Defuzzification
• Summary

2/9/2004 Fuzzy Logic 19

 Inputs: Temperature
• References
• Introduction • Temp: {Freezing, Cool, Warm, Hot}
• Crisp Variables 1
Freezing Cool Warm Hot

• Fuzzy Sets
• Linguistic
Variables
• Membership 0
Functions 10 30 50 70 90 110

• Fuzzy Logic Temp. (F°)

• Fuzzy OR
• Fuzzy AND
• Example
• Fuzzy Control
• Variables
• Rules
• Fuzzification
• Defuzzification
• Summary

2/9/2004 Fuzzy Logic 20

 Inputs: Temperature, Cloud Cover
• References
• Introduction • Temp: {Freezing, Cool, Warm, Hot}
• Crisp Variables 1
Freezing Cool Warm Hot

• Fuzzy Sets
• Linguistic
Variables
• Membership 0
Functions 10 30 50 70 90 110

• Fuzzy Logic Temp. (F°)

•
•
Fuzzy OR
Fuzzy AND
• Cover: {Sunny, Partly, Overcast}
• Example Sunny Partly Cloudy Overcast
1
• Fuzzy Control
• Variables
• Rules
• Fuzzification
• Defuzzification 0
• Summary 0 20 40 60 80 100
Cloud Cover (%)

2/9/2004 Fuzzy Logic 21

 Output: Speed
• References
• Introduction • Speed: {Slow, Fast}
• Crisp Variables
• Fuzzy Sets
• Linguistic Slow Fast
Variables 1

• Membership
Functions
• Fuzzy Logic
• Fuzzy OR
• Fuzzy AND
0
• Example 0 25 50 75 100
• Fuzzy Control Speed (mph)
• Variables
• Rules
• Fuzzification
• Defuzzification
• Summary

2/9/2004 Fuzzy Logic 22

 Rules
• References
• Introduction • If it's Sunny and Warm, drive Fast
• Crisp Variables
• Fuzzy Sets
Sunny(Cover)Warm(Temp) Fast(Speed)
• Linguistic
Variables
• Membership
Functions
• If it's Cloudy and Cool, drive Slow
• Fuzzy Logic Cloudy(Cover)Cool(Temp) Slow(Speed)
• Fuzzy OR
• Fuzzy AND
• Example
• Fuzzy Control
• Variables • Driving Speed is the combination of
• Rules
•
•
Fuzzification
Defuzzification
output of these rules...
• Summary

2/9/2004 Fuzzy Logic 23

 Example Speed Calculation
• References
• Introduction • How fast will I go if it is
• Crisp Variables
• Fuzzy Sets • 65 F°
• Linguistic
Variables • 25 % Cloud Cover ?
• Membership
Functions
• Fuzzy Logic
• Fuzzy OR
• Fuzzy AND
• Example
• Fuzzy Control
• Variables
• Rules
• Fuzzification
• Defuzzification
• Summary

2/9/2004 Fuzzy Logic 24

 Fuzzification:
Calculate Input Membership Levels
•
• 65 F°  Cool = 0.4, Warm= 0.7
References
• Introduction
• Crisp Variables 1
Freezing Cool Warm Hot

• Fuzzy Sets
• Linguistic
Variables
• Membership 0
Functions 10 30 50 70 90 110

• Fuzzy Logic Temp. (F°)

• Fuzzy OR
• Fuzzy AND
• Example
• Fuzzy Control
• Variables
• Rules
• Fuzzification
• Defuzzification
• Summary

2/9/2004 Fuzzy Logic 25

 Fuzzification:
Calculate Input Membership Levels
•
• 65 F°  Cool = 0.4, Warm= 0.7
References
• Introduction
• Crisp Variables 1
Freezing Cool Warm Hot

• Fuzzy Sets
• Linguistic
Variables
• Membership 0
Functions 10 30 50 70 90 110

• Fuzzy Logic Temp. (F°)

• Fuzzy OR • 25% Cover Sunny = 0.8, Cloudy = 0.2

• Fuzzy AND
• Example Sunny Partly Cloudy Overcast
1
• Fuzzy Control
• Variables
• Rules
• Fuzzification
• Defuzzification 0
• Summary 0 20 40 60 80 100
Cloud Cover (%)

2/9/2004 Fuzzy Logic 26

 ...Calculating...
•
•
References
Introduction
• If it's Sunny and Warm, drive Fast
• Crisp Variables Sunny(Cover)Warm(Temp)Fast(Speed)
• Fuzzy Sets
• Linguistic 0.8  0.7 = 0.7
Variables
• Membership  Fast = 0.7
Functions
• Fuzzy Logic
• Fuzzy OR
•
•
Fuzzy AND
Example
• If it's Cloudy and Cool, drive Slow
• Fuzzy Control Cloudy(Cover)Cool(Temp)Slow(Speed)
• Variables
•
•
Rules
Fuzzification 0.2  0.4 = 0.2
• Defuzzification
• Summary  Slow = 0.2

2/9/2004 Fuzzy Logic 27

 Defuzzification:
Constructing the Output
• References
• Introduction • Speed is 20% Slow and 70% Fast
• Crisp Variables
Fast
• Fuzzy Sets 1
Slow

• Linguistic
Variables
• Membership
Functions
• Fuzzy Logic
0
• Fuzzy OR 0 25 50 75 100
• Fuzzy AND
Speed (mph)
• Example
• Fuzzy Control
• Variables
• Find centroids: Location where
•
•
Rules
Fuzzification
membership is 100%
• Defuzzification
• Summary

2/9/2004 Fuzzy Logic 28

 Defuzzification:
Constructing the Output
• References
• Introduction • Speed is 20% Slow and 70% Fast
• Crisp Variables
Fast
• Fuzzy Sets 1
Slow

• Linguistic
Variables
• Membership
Functions
• Fuzzy Logic
0
• Fuzzy OR 0 25 50 75 100
• Fuzzy AND
Speed (mph)
• Example
• Fuzzy Control
• Variables
• Find centroids: Location where
•
•
Rules
Fuzzification
membership is 100%
• Defuzzification
• Summary

2/9/2004 Fuzzy Logic 29

 Defuzzification:
Constructing the Output
• References
• Introduction • Speed is 20% Slow and 70% Fast
• Crisp Variables
Fast
• Fuzzy Sets 1
Slow

• Linguistic
Variables
• Membership
Functions
• Fuzzy Logic
0
• Fuzzy OR 0 25 50 75 100
• Fuzzy AND
Speed (mph)
• Example
• Fuzzy Control
• Variables
• Speed = weighted mean
• Rules
• Fuzzification = (2*25+...
• Defuzzification
• Summary

2/9/2004 Fuzzy Logic 30

 Defuzzification:
Constructing the Output
• References
• Introduction • Speed is 20% Slow and 70% Fast
• Crisp Variables
Fast
• Fuzzy Sets 1
Slow

• Linguistic
Variables
• Membership
Functions
• Fuzzy Logic
0
• Fuzzy OR 0 25 50 75 100
• Fuzzy AND
Speed (mph)
• Example
• Fuzzy Control
• Variables
• Speed = weighted mean
• Rules
• Fuzzification = (2*25+7*75)/(9)
• Defuzzification
• Summary = 63.8 mph
2/9/2004 Fuzzy Logic 31
 Notes: Follow-up Points
• References
• Introduction • Fuzzy Logic Control allows for the
• Crisp Variables
• Fuzzy Sets smooth interpolation between
• Linguistic variable centroids with relatively
Variables
• Membership few rules
Functions
• Fuzzy Logic
• Fuzzy OR • This does not work with crisp
• Fuzzy AND
• Example (traditional Boolean) logic
• Fuzzy Control
•
•
Variables
Rules
• Provides a natural way to model
•
•
Fuzzification
Defuzzification
some types of human expertise in a
• Summary computer program
2/9/2004 Fuzzy Logic 32
 Notes: Drawbacks to Fuzzy logic
• References
• Introduction • Requires tuning of membership
• Crisp Variables
• Fuzzy Sets functions
• Linguistic
Variables • Fuzzy Logic control may not scale
• Membership
Functions well to large or complex problems
• Fuzzy Logic
• Fuzzy OR • Deals with imprecision, and
• Fuzzy AND
• Example vagueness, but not uncertainty
• Fuzzy Control
• Variables
• Rules
• Fuzzification
• Defuzzification
• Summary

2/9/2004 Fuzzy Logic 33

 Summary
• References
• Introduction • Fuzzy Logic provides way to calculate
• Crisp Variables with imprecision and vagueness
• Fuzzy Sets
• Linguistic • Fuzzy Logic can be used to represent
Variables
• Membership some kinds of human expertise
Functions
• Fuzzy Logic • Fuzzy Membership Sets
• Fuzzy OR
• Fuzzy AND • Fuzzy Linguistic Variables
• Example
• Fuzzy Control • Fuzzy AND and OR
• Variables
•
•
Rules
Fuzzification
• Fuzzy Control
• Defuzzification
• Summary

2/9/2004 Fuzzy Logic 34